基于ESP32的microPython开发的智能小车
第一课
点亮led
#外设LED闪烁
from machine import Pin
import time
led = Pin(22,Pin.OUT)
while True:
led.on()
time.sleep(1)
led.off()
time.sleep_ms(500)
led.value(1)
time.sleep_us(1000000)
led.value(0)
time.sleep(0.5)
流水灯
from machine import Pin
import time
led0 = Pin(21,Pin.OUT)
led1 = Pin(22,Pin.OUT)
led2 = Pin(23,Pin.OUT)
while True:
led0.value(1) #点亮led
time.sleep(1)
led0.value(0) #熄灭led
time.sleep(1)
led1.value(1)
time.sleep(1)
led1.value(0)
time.sleep(1)
led2.value(1)
time.sleep(1)
led2.value(0)
time.sleep(1)
从1数到3
from machine import Pin
import time
led0 = Pin(32,Pin.OUT)
led1 = Pin(33,Pin.OUT)
led2 = Pin(25,Pin.OUT)
while True:
led0.on()
time.sleep(0.5)
led1.on()
time.sleep(0.5)
led1.on()
time.sleep(0.5)
led0.off()
led1.off()
led2.off()
按键控制led
import machine
led = machine.Pin(32,machine.Pin.OUT)
button = machine.Pin(0,machine.Pin.IN)
while True:
if(button.value()==0):
led.value(0)
else:
led.value(1)
第二课
## pwm
>>> from machine import PWM,Pin
>>> p22 = Pin(22,Pin.OUT)
>>> pwm = PWM(p22)
>>> pwm
PWM(22, freq=100, duty=736)
>>> pwm.freq(500)
>>> pwm.duty(512)
>>> pwm
PWM(22, freq=500, duty=512)
呼吸灯
from machine import Pin,PWM
import time
p22 = Pin(22,Pin.OUT)
#构建PWM对象pwm_LED
pwm_led = PWM(p22,)
#设置pwm_led频率
pwm_led.freq(100) #1/T表示时间
#占空比
duty=0 #占空比为0是电压为0.灯泡不亮
while True:
while duty<1008:
duty=duty+16
time.sleep_ms(10) #延时10ms
pwm_led.duty(duty)
while duty>0:
duty=duty-16
time.sleep_ms(10)
pwm_led.duty(duty)
练习题
import machine
led = machine.Pin(32,machine.Pin.OUT)
button = machine.Pin(0,machine.Pin.IN)
while True:
if(button.value()==0):
led.value(0)
else:
led.value(1)
边沿出发中断
### boot 按键按下led状态与前一次按键相反
from machine import Pin
import time
led = Pin(2,Pin.OUT)
button = Pin(21,Pin.IN,Pin.PULL_UP)
mode = 0
def handler_interrupt(pin):
global mode
led.value(not led.value())
if(mode<4):
mode = mode + 1
else:
mode = 0
print(mode)
def get_mode():
button.irq(trigger=Pin.IRQ_FALLING,handler=handler_interrupt)
return mode
while 1:
if get_mode():
break
while 1:
mode = get_mode()
if mode==1:
#tracing()
print("tracing mode")
elif mode==2:
#avoid_obstacle()
print("avoid obstacle mode")
else:
#stop()
print("stop mode")
第三课
motor
from machine import Pin,PWM
import time
def gpio_init():
global motor1
global motor2
motor1 = Pin(15,Pin.OUT)
motor2 = Pin(2,Pin.OUT)
#led = Pin(22,Pin.OUT)
def simple_motor():
gpio_init()
motor1.value(0)
motor2.value(1)
#led.on()
def spin_clockwise():
motor1.value(0)
motor2.value(1)
def spin_anticlockwise():
motor1.value(1)
motor2.value(0)
def stop():
motor1.value(0)
motor2.value(0)
def smart_motor():
gpio_init()
spin_clockwise()
time.sleep(10)
spin_anticlockwise()
time.sleep(10)
stop()
car
from machine import Pin
import time
# 设置管脚PIN
motro_left1 = Pin(15,Pin.OUT)
motro_left2 = Pin(2,Pin.OUT)
motro_right1 = Pin(16,Pin.OUT)
motro_right2 = Pin(4,Pin.OUT)
#方向函数
def turn_left():
motro_left1.value(0) # 输出高电平
motro_left2.value(0)
motro_right1.value(1) # 输出高电平
motro_right2.value(0)
def turn_right():
motro_left1.value(1) # 输出高电平
motro_left2.value(0)
motro_right1.value(0) # 输出高电平
motro_right2.value(0)
def forward():
motro_left1.value(1) # 输出高电平
motro_left2.value(0)
motro_right1.value(1) # 输出高电平
motro_right2.value(0)
def backward():
motro_left1.value(0) # 输出高电平
motro_left2.value(1)
motro_right1.value(0) # 输出高电平
motro_right2.value(1)
def stop():
motro_left1.value(0) # 输出高电平
motro_left2.value(0)
motro_right1.value(0) # 输出高电平
motro_right2.value(0)
def smart_car():
forward()
time.sleep(5)
stop()
turn_left()
time.sleep(1)
stop()
turn_right()
time.sleep(1)
stop()
backward()
time.sleep(5)
stop()
红外使用
from machine import Pin
from time import sleep
infared = Pin(5,Pin.IN)
led = Pin(22,Pin.OUT)
while True:
if infared.value()==0: # 检测到障碍物
print('检测到障碍物')
led.on()
else:
print('没有检测到障碍物')
led.on()
sleep(1)
第四课
pwm_motor
from machine import Pin,PWM
import time
def setup():
global motor1
global motor2
motor1 = PWM(Pin(15,Pin.OUT),freq=20000, duty=0)
motor2 = PWM(Pin(2,Pin.OUT),freq=20000, duty=0)
def fast():
motor1.duty(1023)
motor2.duty(0)
def slow():
motor1.duty(768)
motor2.duty(0)
def acw():
motor1.duty(0)
motor2.duty(768)
def stop():
motor1.duty(0)
motor2.duty(0)
def smart_motor():
setup()
slow()
time.sleep(10)
fast()
time.sleep(10)
acw()
time.sleep(10)
stop()
pwm_car
from machine import Pin, PWM
from utime import sleep
# 设置管脚PIN
left1_pin = 15
left2_pin = 2
right1_pin = 16
right2_pin = 4
def motor_setup():
global motro_left1
global motro_left2
global motro_right1
global motro_right2
motro_left1 = PWM(Pin(left1_pin), freq=20000, duty=0) # 创建motor pwm对象，设置为输出模式
motro_left2 = PWM(Pin(left2_pin),freq=20000, duty=0)
motro_right1 = PWM(Pin(right1_pin),freq=20000, duty=0)
motro_right2 = PWM(Pin(right2_pin),freq=20000, duty=0)
#方向函数
def turn_left():
motro_left1.duty(400) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(780) # 输出高电平
motro_right2.duty(0)
def turn_right():
motro_left1.duty(780) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(400) # 输出高电平
motro_right2.duty(0)
def fast_forward():
motro_left1.duty(1000) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(1000) # 输出高电平
motro_right2.duty(0)
def slow_forward():
motro_left1.duty(780) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(780) # 输出高电平
motro_right2.duty(0)
def backward():
motro_left1.duty(0) # 输出高电平
motro_left2.duty(780)
motro_right1.duty(0) # 输出高电平
motro_right2.duty(780)
def stop():
motro_left1.duty(0) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(0) # 输出高电平
motro_right2.duty(0)
def smart_car():
slow_forward()
sleep(5)
#stop()
fast_forward()
sleep(5)
#stop()
turn_left()
sleep(1)
#stop()
turn_right()
sleep(1)
#stop()
backward()
sleep(5)
stop()
class 5
避障小车
from machine import Pin, PWM
from utime import sleep
# 设置管脚PIN
left1_pin = 15
left2_pin = 2
right1_pin = 16
right2_pin = 4
avoid_left_pin = 26 #寻迹 22
avoid_right_pin = 25 #23
def motor_setup():
global motro_left1
global motro_left2
global motro_right1
global motro_right2
motro_left1 = PWM(Pin(left1_pin), freq=20000, duty=0) # 创建motor pwm对象，设置为输出模式
motro_left2 = PWM(Pin(left2_pin),freq=20000, duty=0)
motro_right1 = PWM(Pin(right1_pin),freq=20000, duty=0)
motro_right2 = PWM(Pin(right2_pin),freq=20000, duty=0)
#寻迹避障等gpio初始化
def gpio_setup():
global avoid_left
global avoid_right
avoid_left = Pin(avoid_left_pin,Pin.IN)
avoid_right = Pin(avoid_right_pin,Pin.IN)
#方向函数
def turn_left():
motro_left1.duty(400) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(780) # 输出高电平
motro_right2.duty(0)
def turn_right():
motro_left1.duty(780) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(400) # 输出高电平
motro_right2.duty(0)
def fast_forward():
motro_left1.duty(1000) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(1000) # 输出高电平
motro_right2.duty(0)
def slow_forward():
motro_left1.duty(780) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(780) # 输出高电平
motro_right2.duty(0)
def backward():
motro_left1.duty(0) # 输出高电平
motro_left2.duty(780)
motro_right1.duty(0) # 输出高电平
motro_right2.duty(780)
def stop():
motro_left1.duty(0) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(0) # 输出高电平
motro_right2.duty(0)
def avoid_obstacle():
if avoid_left.value()==0 and avoid_right.value()==1 : #前方任何一个红外遇到黑色（障碍物）
backward()
print('backward')
sleep(1)
turn_right()
print('turn right')
sleep(0.5)
slow_forward()
print('forward')
elif avoid_left.value()==1 and avoid_right.value()==0 : #前方任何一个红外遇到黑色（障碍物）
backward()
print('backward')
sleep(1)
turn_left()
print('turn left')
sleep(0.5)
slow_forward()
print('forward')
elif avoid_left.value()==0 and avoid_right.value()==0 : #前方任何一个红外遇到黑色（障碍物）
backward()
print('backward')
sleep(1)
slow_forward()
print('forward')
else:
slow_forward()
print('forward')
if __name__=='__main__':
motor_setup()
gpio_setup()
while True:
avoid_obstacle()
按键控制寻迹避障小车
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
# －－－－极光编程－－－－
# 文件名：motor.py
# 版本：V2.0
# author: Jessy
# 说明：智能小车实验
#####################################################
from machine import Pin, PWM
from utime import sleep
# 设置管脚PIN
left1_pin = 15
left2_pin = 2
right1_pin = 16 #5
right2_pin = 4
avoid_left_pin = 5 #寻迹 22
avoid_right_pin = 17 #23
follow_left_pin = 19 #避障
follow_right_pin = 18
mode_pin = 21
redLED_pin = 22
blueLED_pin = 23
#motor初始化
def motor_setup():
global motro_left1
global motro_left2
global motro_right1
global motro_right2
motro_left1 = PWM(Pin(left1_pin), freq=20000, duty=0) # 创建motor pwm对象，设置为输出模式
motro_left2 = PWM(Pin(left2_pin),freq=20000, duty=0)
motro_right1 = PWM(Pin(right1_pin),freq=20000, duty=0)
motro_right2 = PWM(Pin(right2_pin),freq=20000, duty=0)
# 初始化寻迹避障模块GPIO口
def gpio_setup():
global avoid_left
global avoid_right
global follow_left
global follow_right
global mode_button
global led_red
global led_blue
avoid_left = Pin(avoid_left_pin,Pin.IN)
avoid_right = Pin(avoid_right_pin,Pin.IN)
follow_left = Pin(follow_left_pin,Pin.IN,Pin.PULL_UP)
follow_right = Pin(follow_right_pin,Pin.IN,Pin.PULL_UP)
mode_button = Pin(mode_pin,Pin.IN,Pin.PULL_UP)
led_red = Pin(redLED_pin,Pin.OUT)
led_blue = Pin(blueLED_pin,Pin.OUT)
#方向函数
def turn_left():
motro_left1.duty(380) # 输出高电平 400
motro_left2.duty(0)
motro_right1.duty(680) # 输出高电平
motro_right2.duty(0)
def turn_right():
motro_left1.duty(680) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(380) # 输出高电平
motro_right2.duty(0)
def fast_forward():
motro_left1.duty(1000) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(1000) # 输出高电平
motro_right2.duty(0)
def slow_forward():
motro_left1.duty(780) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(780) # 输出高电平
motro_right2.duty(0)
def backward():
motro_left1.duty(0) # 输出高电平
motro_left2.duty(780)
motro_right1.duty(0) # 输出高电平
motro_right2.duty(780)
def stop():
motro_left1.duty(0) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(0) # 输出高电平
motro_right2.duty(0)
def tracing():
slow_forward()
if follow_left.value()==1 and follow_right.value()==0:
turn_left()
print('Black line is detected on the left,turn left')
elif follow_left.value()==0 and follow_right.value()==1:
turn_right()
print('Black line is detected on the ritht,turn right')
else:
slow_forward()
print('forward')
def avoid_obstacle():
if avoid_left.value()==0 and avoid_right.value()==1 : #前方任何一个红外遇到黑色（障碍物）
backward()
print('backward')
sleep(1)
turn_right()
print('turn right')
sleep(0.5)
slow_forward()
print('forward')
elif avoid_left.value()==1 and avoid_right.value()==0 : #前方任何一个红外遇到黑色（障碍物）
backward()
print('backward')
sleep(1)
turn_left()
print('turn left')
sleep(0.5)
slow_forward()
print('forward')
elif avoid_left.value()==0 and avoid_right.value()==0 : #前方任何一个红外遇到黑色（障碍物）
backward()
print('backward')
sleep(1)
slow_forward()
print('forward')
else:
slow_forward()
print('forward')
def led_show():
if mode==1: #寻迹模式
led_red.on()
led_blue.off()
elif mode==2: #避障模式
led_red.off()
led_blue.on()
else:
led_red.off()
led_blue.off()
#通过红外模块获取方向
#红外传感器，二极管不断发射红外线，遇到白色反射回来，红外接收管饱和，输出低电平，否则输出高电平
# (black line:1,white line:0)
def handler_interrupt(pin):
global mode
if(mode<2):
mode = mode + 1
else:
mode = 0
print("mode:",mode,end='\t')
def get_mode():
mode_button.irq(trigger=Pin.IRQ_FALLING,handler=handler_interrupt)
return mode
#主程序
mode = 0
motor_setup()
gpio_setup()
# 按键监听
while True:
if get_mode():
break
while True:
mode = get_mode()
if mode==1:
tracing()
led_show()
print("tracing mode",end="\t")
elif mode==2:
avoid_obstacle()
led_show()
print("avoid obstacle mode",end="\t")
else:
stop()
led_show()
break
print("break",end="\t")
红外遥控小车
1、将一下代码下载至esp32开发板并命名为：myIRremote.py
# from machine import Pin
# import configs
import os
import machine
import utime
import micropython
import ujson
from machine import Pin, PWM
micropython.alloc_emergency_exception_buf(100)
'''
无重复：
[9047, 4488, 554, 573, 558, 626, 556, 599, 558, 598, 558, 599, 557, 600, 532,
625, 532, 624, 558, 1672, 582, 1624, 554, 1698, 534, 1693, 533, 1697, 558, 1648,
555, 1696, 559, 1670, 557, 1671, 558, 598, 559, 1670, 558, 599, 582, 550, 582,
598, 559, 1671, 532, 623, 557, 600, 586, 1614, 562, 624, 557, 1645, 584, 1672,
558, 1671, 559, 573, 557, 1696, 557]
有重复
[9072, 4492, 535, 601, 535, 600, 581, 571, 588, 596, 559, 572, 586, 596, 535,
622, 534, 597, 586, 1669, 581, 1669, 535, 1696, 585, 1644, 534, 1696, 559, 1670,
534, 1696, 558, 1673, 559, 1645, 610, 572, 560, 1670, 534, 629, 554, 570, 587,
573, 558, 1696, 559, 598, 533, 624, 558, 1671, 533, 623, 560, 1643, 588, 1642,
561, 1696, 533, 623, 560, 1671, 559, 39230, 9049, 2246, 583, 95490, 9027, 2265,
534, 95509, 9023, 2268, 559, 95482, 9014, 2269, 533, 95514, 9019, 2268, 585, 95443,
9041, 2268, 559, 95467, 9043, 2271, 531, 95495, 9043, 2247, 581, 95490, 9020,
2243, 559, 95517, 9043, 2246, 558, 95492, 9042, 2244, 559, 95492, 9017, 2268, 534,
95490, 9046, 2269, 537, 95516, 9041, 2243, 535, 95517, 9089, 2152, 579, 95489,
9044, 2244, 585, 95492, 9025, 2269, 585]
'''
class IR(object):
CODE = {162: "1", 98: "2", 226: "3", 34: "4", 2: "5", 194: "6", 224: "7", 168: "8", 144: "9",
152: "0", 104: "*", 176: "#", 24: "up", 74: "down", 16: "left", 90: "right", 56: "ok"}
def __init__(self, gpioNum):
self.irRecv = machine.Pin(gpioNum, machine.Pin.IN, machine.Pin.PULL_UP)
self.irRecv.irq(
trigger=machine.Pin.IRQ_RISING | machine.Pin.IRQ_FALLING,
handler=self.__logHandler)
self.ir_step = 0
self.ir_count = 0
self.buf64 = [0 for i in range(64)]
self.recived_ok = False
self.cmd = None
self.cmd_last = None
self.repeat = 0
self.repeat_last = None
self.t_ok = None
self.t_ok_last = None
self.start = 0
self.start_last = 0
self.changed = False
def __logHandler(self, source):
thisComeInTime = utime.ticks_us()
# 更新时间
curtime = utime.ticks_diff(thisComeInTime, self.start)
self.start = thisComeInTime
if curtime >= 8500 and curtime <= 9500:
self.ir_step = 1
return
if self.ir_step == 1:
if curtime >= 4000 and curtime <= 5000:
self.ir_step = 2
self.recived_ok = False
self.ir_count = 0
self.repeat = 0
elif curtime >= 2000 and curtime <= 3000: # 长按重复接收
self.ir_step = 3
self.repeat += 1
elif self.ir_step == 2: # 接收4个字节
self.buf64[self.ir_count] = curtime
self.ir_count += 1
if self.ir_count >= 64:
self.recived_ok = True
self.t_ok = self.start #记录最后ok的时间
self.ir_step = 0
elif self.ir_step == 3: # 重复
if curtime >= 500 and curtime <= 650:
self.repeat += 1
# elif self.ir_step == 4: # 结束码，若果没有结束码有可能收到重复码再从step=1开始
# if curtime >= 500 and curtime <= 650:
# self.ir_step = 0
def __check_cmd(self):
byte4 = 0
for i in range(32):
x = i * 2
t = self.buf64[x] + self.buf64[x+1]
byte4 <<= 1
if t >= 1800 and t <= 2800:
byte4 += 1
user_code_hi = (byte4 & 0xff000000) >> 24
user_code_lo = (byte4 & 0x00ff0000) >> 16
data_code = (byte4 & 0x0000ff00) >> 8
data_code_r = byte4 & 0x000000ff
self.cmd = data_code
def scan(self):
# 接收到数据
if self.recived_ok:
self.__check_cmd()
self.recived_ok = False
#数据有变化
if self.cmd != self.cmd_last or self.repeat != self.repeat_last or self.t_ok != self.t_ok_last:
self.changed = True
else:
self.changed = False
#更新
self.cmd_last = self.cmd
self.repeat_last = self.repeat
self.t_ok_last = self.t_ok
#对应按钮字符
s = self.CODE.get(self.cmd)
return self.changed, s, self.repeat, self.t_ok
2、以下为main函数
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
# －－－－极光编程－－－－
# 文件名：motor.py
# 版本：V2.0
# author: Jessy
# 说明：智能小车实验
#####################################################
from machine import Pin, PWM
import machine
from utime import sleep
from myIRremote import IR
# 设置管脚PIN
left1_pin = 13
left2_pin = 12
right1_pin = 14 #5
right2_pin = 27
avoid_left_pin = 26 #寻迹 22
avoid_right_pin = 25 #23
follow_left_pin = 33 #避障
follow_right_pin = 32
mode_pin = 35
IRremote_pin = 34
redLED_pin = 15
blueLED_pin = 2
yellowLED_pin = 4
#buzzer_pin = 33
#motor初始化
def motor_setup():
global motro_left1
global motro_left2
global motro_right1
global motro_right2
motro_left1 = PWM(Pin(left1_pin), freq=20000, duty=0) # 创建motor pwm对象，设置为输出模式
motro_left2 = PWM(Pin(left2_pin),freq=20000, duty=0)
motro_right1 = PWM(Pin(right1_pin),freq=20000, duty=0)
motro_right2 = PWM(Pin(right2_pin),freq=20000, duty=0)
# 初始化寻迹避障模块GPIO口
def gpio_setup():
global avoid_left
global avoid_right
global follow_left
global follow_right
global mode_button
global led_red
global led_blue
global led_yellow
avoid_left = Pin(avoid_left_pin,Pin.IN)
avoid_right = Pin(avoid_right_pin,Pin.IN)
follow_left = Pin(follow_left_pin,Pin.IN,Pin.PULL_UP)
follow_right = Pin(follow_right_pin,Pin.IN,Pin.PULL_UP)
mode_button = Pin(mode_pin,Pin.IN,Pin.PULL_UP)
led_red = Pin(redLED_pin,Pin.OUT)
led_blue = Pin(blueLED_pin,Pin.OUT)
led_yellow = Pin(yellowLED_pin,Pin.OUT)
#方向函数
def turn_left():
motro_left1.duty(380) # 输出高电平 400
motro_left2.duty(0)
motro_right1.duty(680) # 输出高电平
motro_right2.duty(0)
def turn_right():
motro_left1.duty(680) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(380) # 输出高电平
motro_right2.duty(0)
def fast_forward():
motro_left1.duty(1000) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(1000) # 输出高电平
motro_right2.duty(0)
def middle_forward():
motro_left1.duty(840) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(840) # 输出高电平
motro_right2.duty(0)
def slow_forward():
motro_left1.duty(780) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(780) # 输出高电平
motro_right2.duty(0)
def backward():
motro_left1.duty(0) # 输出高电平
motro_left2.duty(780)
motro_right1.duty(0) # 输出高电平
motro_right2.duty(780)
def stop():
motro_left1.duty(0) # 输出高电平
motro_left2.duty(0)
motro_right1.duty(0) # 输出高电平
motro_right2.duty(0)
def tracing():
slow_forward()
if follow_left.value()==1 and follow_right.value()==0:
turn_left()
print('Black line is detected on the left,turn left')
elif follow_left.value()==0 and follow_right.value()==1:
turn_right()
print('Black line is detected on the ritht,turn right')
else:
slow_forward()
print('forward')
def avoid_obstacle():
if avoid_left.value()==0 and avoid_right.value()==1 : #前方任何一个红外遇到黑色（障碍物）
backward()
print('backward')
sleep(1)
turn_right()
print('turn right')
sleep(0.5)
slow_forward()
print('forward')
elif avoid_left.value()==1 and avoid_right.value()==0 : #前方任何一个红外遇到黑色（障碍物）
backward()
print('backward')
sleep(1)
turn_left()
print('turn left')
sleep(0.5)
slow_forward()
print('forward')
elif avoid_left.value()==0 and avoid_right.value()==0 : #前方任何一个红外遇到黑色（障碍物）
backward()
print('backward')
sleep(1)
slow_forward()
print('forward')
else:
slow_forward()
print('forward')
def ir_control():
stop()
machine.freq(160000000)
state = 0
ir = IR(IRremote_pin)
changed, s, repeat, ir_ok = ir.scan()
if changed == True:
if repeat >= 2:
if s == 'up' and state != 1:
state = 1
slow_forward()
print("state1"," up")
elif s == 'down' and state != 2:
state = 2
backward()
print("state2"," down")
elif s == 'left' and state != 3:
state = 3
turn_left()
print("state3"," left")
elif s == 'right' and state != 4:
state = 4
turn_right()
print("state4"," right")
else:
if state != 0:
state = 0
stop()
print("state0")
sleep(0.2)
def led_show():
if mode==1: #寻迹模式
led_red.on()
led_blue.off()
led_yellow.off()
elif mode==2: #避障模式
led_red.off()
led_blue.on()
led_yellow.off()
elif mode==3:
led_red.off()
led_blue.off()
led_yellow.on()
else:
led_red.off()
led_blue.off()
led_yellow.off()
#通过红外模块获取方向
#红外传感器，二极管不断发射红外线，遇到白色反射回来，红外接收管饱和，输出低电平，否则输出高电平
# (black line:1,white line:0)
def handler_interrupt(pin):
global mode
if(mode<3):
mode = mode + 1
else:
mode = 0
print("mode:",mode,end='\t')
def get_mode():
mode_button.irq(trigger=Pin.IRQ_FALLING,handler=handler_interrupt)
return mode
#主程序
mode = 0
motor_setup()
gpio_setup()
while True:
if get_mode():
break
while True:
mode = get_mode()
if mode==1:
tracing()
led_show()
print("tracing mode",end="\t")
elif mode==2:
avoid_obstacle()
led_show()
print("avoid obstacle mode",end="\t")
elif mode==3:
ir_control()
led_show()
print("IRremote control mode",end="\t")
else:
stop()
led_show()
break
print("break",end="\t")
