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標題: python 智能小車源碼 [打印本頁]

作者: 的為、ff 時間: 2018-11-13 14:43
標題: python 智能小車源碼

#coding:utf-8 #設置中文編碼
import RPi.GPIO as GPIO #導入樹莓派GPIO模塊
import sys,time    #導入時間模塊
from threading import * #導入thread模塊所有函數

dc = 0    #速度
mmd = 'r' #上一次的行駛狀態
num = 1    #尋跡狀態標志
thread_num = 0  #尋跡線程個數
thread_bi = 0 #避障線程個數
num_bi = 1  #避障狀態標志

#定義控制馬達的兩個引腳
m1 = 23
m2 = 22
m3 = 24
m4 = 27
m5 = 19
m6 = 13
m7 = 20
m8 = 16
GPIO.setwarnings(False) #設置屏蔽警告信息
GPIO.setmode(GPIO.BCM)  #設置引腳為BCM編碼模式
GPIO.setup(m1,GPIO.OUT) #設置m1方向為輸出
GPIO.setup(m2,GPIO.OUT) #設置m2方向為輸出
GPIO.setup(m3,GPIO.OUT)
GPIO.setup(m4,GPIO.OUT)
GPIO.setup(m5,GPIO.OUT)
GPIO.setup(m6,GPIO.OUT)
GPIO.setup(m7,GPIO.OUT)
GPIO.setup(m8,GPIO.OUT)
'''
#定義燈的引腳
g1 = 5
g2 = 6
g3 = 21
g4 = 12
#左邊
GPIO.setup(g1,GPIO.OUT) #紅色
GPIO.setup(g2,GPIO.OUT) #綠色
#右邊
GPIO.setup(g3,GPIO.OUT) #紅色
GPIO.setup(g4,GPIO.OUT) #綠色
'''
#定義尋跡引腳
LineR = 26
LineL = 17
LineM1 = 25
LineM2 = 18
GPIO.setup(LineR,GPIO.IN,GPIO.PUD_UP) #設置引腳為輸入
GPIO.setup(LineL,GPIO.IN,GPIO.PUD_UP) #設置引腳為輸入
GPIO.setup(LineM1,GPIO.IN,GPIO.PUD_UP)  #設置引腳為輸入
GPIO.setup(LineM2,GPIO.IN,GPIO.PUD_UP)  #設置引腳為輸入

#加減速
PW1 = GPIO.PWM(m1,500)  #設置PWM脈沖頻率
PW2 = GPIO.PWM(m2,500)
PW3 = GPIO.PWM(m3,500)
PW4 = GPIO.PWM(m4,500)
PW5 = GPIO.PWM(m5,500)
PW6 = GPIO.PWM(m6,500)
PW7 = GPIO.PWM(m7,500)
PW8 = GPIO.PWM(m8,500)
PW1.start(0)
PW2.start(0)
PW3.start(0)
PW4.start(0)
PW5.start(0)
PW6.start(0)
PW7.start(0)
PW8.start(0)

PW1.ChangeDutyCycle(dc) #設置PW1停止
PW2.ChangeDutyCycle(dc)
PW3.ChangeDutyCycle(dc)
PW4.ChangeDutyCycle(dc)
PW5.ChangeDutyCycle(dc)
PW6.ChangeDutyCycle(dc)
PW7.ChangeDutyCycle(dc)
PW8.ChangeDutyCycle(dc)

def thread_xunji():    #子線程實現函數
sum = 0
global num  #聲明全局變量
global thread_num #聲明全局變量
while num:
      if(GPIO.input(LineL)==0 and GPIO.input(LineR)==0 and
      GPIO.input(LineM1)==0 and GPIO.input(LineM2)==0):
         sum = sum + 1
         print "地板"
         if(sum > 100):

            PW1.ChangeDutyCycle(0)
            PW2.ChangeDutyCycle(0)
            PW3.ChangeDutyCycle(0)
            PW4.ChangeDutyCycle(0)
            PW5.ChangeDutyCycle(0)
            PW6.ChangeDutyCycle(0)
            PW7.ChangeDutyCycle(0)
            PW8.ChangeDutyCycle(0)

      elif(GPIO.input(LineL)==1 and GPIO.input(LineR)==1 and
      GPIO.input(LineM1)==1 and GPIO.input(LineM2)==1):
         print "懸空"

         PW1.ChangeDutyCycle(0)
         PW2.ChangeDutyCycle(0)
         PW3.ChangeDutyCycle(0)
         PW4.ChangeDutyCycle(0)
         PW5.ChangeDutyCycle(0)
         PW6.ChangeDutyCycle(0)
         PW7.ChangeDutyCycle(0)
         PW8.ChangeDutyCycle(0)

#左邊碰到黑帶左轉
      elif(GPIO.input(LineL)==1 and GPIO.input(LineR)==0 and
      GPIO.input(LineM1)==0 and GPIO.input(LineM2)==0):
         print "左轉"
         sum = 0

         PW1.ChangeDutyCycle(0)
         PW2.ChangeDutyCycle(0)
         PW3.ChangeDutyCycle(0)
         PW4.ChangeDutyCycle(0)
         PW5.ChangeDutyCycle(0)
         PW6.ChangeDutyCycle(0)
         PW7.ChangeDutyCycle(0)
         PW8.ChangeDutyCycle(0)

         PW3.ChangeDutyCycle(60)
         PW7.ChangeDutyCycle(60)

      elif(GPIO.input(LineL)==0 and GPIO.input(LineR)==1 and
      GPIO.input(LineM1)==0 and GPIO.input(LineM2)==0):
         print "右轉"
         sum = 0

         PW1.ChangeDutyCycle(0)
         PW2.ChangeDutyCycle(0)
         PW3.ChangeDutyCycle(0)
         PW4.ChangeDutyCycle(0)
         PW5.ChangeDutyCycle(0)
         PW6.ChangeDutyCycle(0)
         PW7.ChangeDutyCycle(0)
         PW8.ChangeDutyCycle(0)

         PW1.ChangeDutyCycle(60)
         PW5.ChangeDutyCycle(60)

      elif(GPIO.input(LineL)==0 and GPIO.input(LineR)==0 and
      GPIO.input(LineM1)==1 or GPIO.input(LineM2)==1):
         print "前進"
         sum = 0

         PW1.ChangeDutyCycle(0)
         PW2.ChangeDutyCycle(0)
         PW3.ChangeDutyCycle(0)
         PW4.ChangeDutyCycle(0)
         PW5.ChangeDutyCycle(0)
         PW6.ChangeDutyCycle(0)
         PW7.ChangeDutyCycle(0)
         PW8.ChangeDutyCycle(0)

         #前進全綠
         PW1.ChangeDutyCycle(60) #加速
         PW3.ChangeDutyCycle(60) #加速
         PW5.ChangeDutyCycle(60) #加速
         PW7.ChangeDutyCycle(60) #加速
      time.sleep(0.01)
print "children I daied!"
num = 1
thread_num = 0
print 'thread_num = ',thread_num

from socket import * #導入模塊中所有函數，可以直接使用函數名，不需要帶模塊名
#第一步：創建套接字
server = socket() #創建一個套接字 TCP，IPV4
print server
#第二步：綁定IP地址和端口號
server.bind(('172.27.35.3', 9996))  #綁定本地IP地址，端口號為8989
#第三步：監聽
server.listen(5) #監聽客戶端鏈接，隊列長度為5
#第四步：接收客戶端鏈接

try: #捕捉while中是否有ctrl + C按下
while 1 :
      print 'accept...'
      client,addr = server.accept() #接受鏈接到服務器的客戶端，得到客戶端元組
      print client,addr
      client.send('welcome...')
      while 1:
         cmd = client.recv(100)  #從客戶端接收100個數據存放到服務器buff
         print '客戶端發來消息：',cmd

         print "正在運行"
#前進
         if cmd == 'w':
            print "mmd = ",mmd
            if mmd == 'w':
                  #維持現狀
                  pass
            elif mmd == 'r':

                  #設置PW腳脈沖為0
                  PW2.ChangeDutyCycle(0)
                  PW4.ChangeDutyCycle(0)
                  PW6.ChangeDutyCycle(0)
                  PW8.ChangeDutyCycle(0)
                  #dc = 60
                  #啟動時60碼
                  for dc in range(0, 100, 50):
                     PW1.ChangeDutyCycle(dc) #加速
                     PW3.ChangeDutyCycle(dc) #加速
                     PW5.ChangeDutyCycle(dc) #加速
                     PW7.ChangeDutyCycle(dc) #加速
                     time.sleep(1)

            elif mmd == 's':
                  #先減速
                  #設置PW腳脈沖為0
                  PW1.ChangeDutyCycle(0)
                  PW3.ChangeDutyCycle(0)
                  PW5.ChangeDutyCycle(0)
                  PW7.ChangeDutyCycle(0)
                  for ac in range(dc, 0, -50):
                     PW2.ChangeDutyCycle(ac) #減速
                     PW4.ChangeDutyCycle(ac) #減速
                     PW6.ChangeDutyCycle(ac) #減速
                     PW8.ChangeDutyCycle(ac) #減速
                     time.sleep(1)
                  #再加速
                  #設置PW腳脈沖為0
                  PW2.ChangeDutyCycle(0)
                  PW4.ChangeDutyCycle(0)
                  PW6.ChangeDutyCycle(0)
                  PW8.ChangeDutyCycle(0)
                  #dc = 60
                  #啟動時60碼
                  for dc in range(0, 100, 50):
                     PW1.ChangeDutyCycle(dc) #加速
                     PW3.ChangeDutyCycle(dc) #加速
                     PW5.ChangeDutyCycle(dc) #加速
                     PW7.ChangeDutyCycle(dc) #加速
                     time.sleep(1)

            else:
                  #先暫停
                  PW1.ChangeDutyCycle(0)
                  PW2.ChangeDutyCycle(0)
                  PW3.ChangeDutyCycle(0)
                  PW4.ChangeDutyCycle(0)
                  PW5.ChangeDutyCycle(0)
                  PW6.ChangeDutyCycle(0)
                  PW7.ChangeDutyCycle(0)
                  PW8.ChangeDutyCycle(0)


                  #設置PW腳脈沖為0
                  PW2.ChangeDutyCycle(0)
                  PW4.ChangeDutyCycle(0)
                  PW6.ChangeDutyCycle(0)
                  PW8.ChangeDutyCycle(0)
                  #dc = 60
                  #啟動時60碼
                  for dc in range(0, 100, 50):
                     PW1.ChangeDutyCycle(dc) #加速
                     PW3.ChangeDutyCycle(dc) #加速
                     PW5.ChangeDutyCycle(dc) #加速
                     PW7.ChangeDutyCycle(dc) #加速
                     time.sleep(0.5)
            #記錄狀態
            mmd = 'w'
#后退
         elif cmd == 's':
            print "mmd = ",mmd
            if mmd == 's':
                  #維持現狀
                  pass
            elif mmd == 'w':
                  #先減速
                  #設置PW腳脈沖為0
                  PW2.ChangeDutyCycle(0)
                  PW4.ChangeDutyCycle(0)
                  PW6.ChangeDutyCycle(0)
                  PW8.ChangeDutyCycle(0)
                  for ac in range(dc, 0, -50):
                     PW1.ChangeDutyCycle(ac) #減速
                     PW3.ChangeDutyCycle(ac) #減速
                     PW5.ChangeDutyCycle(ac) #減速
                     PW7.ChangeDutyCycle(ac) #減速
                     time.sleep(1)

                  #再加速
                  #設置PW腳脈沖為0
                  PW1.ChangeDutyCycle(0)
                  PW3.ChangeDutyCycle(0)
                  PW5.ChangeDutyCycle(0)
                  PW7.ChangeDutyCycle(0)
                  #dc = 60
                  #啟動時60碼
                  for dc in range(0, 100, 50):
                     PW2.ChangeDutyCycle(dc) #加速
                     PW4.ChangeDutyCycle(dc) #加速
                     PW6.ChangeDutyCycle(dc) #加速
                     PW8.ChangeDutyCycle(dc) #加速
                     time.sleep(1)
            elif mmd == 'r':

                  #加速
                  #設置PW腳脈沖為0
                  PW1.ChangeDutyCycle(0)
                  PW3.ChangeDutyCycle(0)
                  PW5.ChangeDutyCycle(0)
                  PW7.ChangeDutyCycle(0)
                  #啟動時60碼
                  for dc in range(0, 100, 50):
                     PW2.ChangeDutyCycle(dc) #加速
                     PW4.ChangeDutyCycle(dc) #加速
                     PW6.ChangeDutyCycle(dc) #加速
                     PW8.ChangeDutyCycle(dc) #加速
                     time.sleep(1)
            else:
                  PW1.ChangeDutyCycle(0)
                  PW2.ChangeDutyCycle(0)
                  PW3.ChangeDutyCycle(0)
                  PW4.ChangeDutyCycle(0)
                  PW5.ChangeDutyCycle(0)
                  PW6.ChangeDutyCycle(0)
                  PW7.ChangeDutyCycle(0)
                  PW8.ChangeDutyCycle(0)

                  #加速
                  #設置PW腳脈沖為0
                  PW1.ChangeDutyCycle(0)
                  PW3.ChangeDutyCycle(0)
                  PW5.ChangeDutyCycle(0)
                  PW7.ChangeDutyCycle(0)
                  #dc = 60
                  #啟動時60碼
                  for dc in range(0, 100, 50):
                     PW2.ChangeDutyCycle(dc) #加速
                     PW4.ChangeDutyCycle(dc) #加速
                     PW6.ChangeDutyCycle(dc) #加速
                     PW8.ChangeDutyCycle(dc) #加速
                     time.sleep(1)
            #記錄狀態：后退
            mmd = 's'

#停止
         elif cmd == 'r':
            mmd = 'r'
            num = 0
            PW1.ChangeDutyCycle(0)
            PW2.ChangeDutyCycle(0)
            PW3.ChangeDutyCycle(0)
            PW4.ChangeDutyCycle(0)
            PW5.ChangeDutyCycle(0)
            PW6.ChangeDutyCycle(0)
            PW7.ChangeDutyCycle(0)
            PW8.ChangeDutyCycle(0)

#右轉
         elif cmd == 'e':
            print "mmd = ",mmd
            if mmd == 'w':
                  mmd = 'd'
                  #前進右轉右綠
                  PW2.ChangeDutyCycle(0)
                  PW3.ChangeDutyCycle(0)
                  PW4.ChangeDutyCycle(0)
                  PW6.ChangeDutyCycle(0)
                  PW7.ChangeDutyCycle(0)
                  PW8.ChangeDutyCycle(0)

            elif mmd == 's':
                  mmd = 'c'
                  #后退右轉右紅
                  PW1.ChangeDutyCycle(0)
                  PW2.ChangeDutyCycle(0)
                  PW3.ChangeDutyCycle(0)
                  PW5.ChangeDutyCycle(0)
                  PW6.ChangeDutyCycle(0)
                  PW7.ChangeDutyCycle(0)

            elif mmd == 'r':
                  mmd = 'd'
                  #停車右轉右綠
                  PW2.ChangeDutyCycle(0)
                  PW3.ChangeDutyCycle(0)
                  PW4.ChangeDutyCycle(0)
                  PW6.ChangeDutyCycle(0)
                  PW7.ChangeDutyCycle(0)
                  PW8.ChangeDutyCycle(0)
                  for dc in range(0, 100, 50):
                     PW1.ChangeDutyCycle(dc) #加速
                     PW5.ChangeDutyCycle(dc) #加速
                     time.sleep(1)

            elif mmd == 'd':
                  pass
            elif mmd == 'c':
                  pass
            elif mmd == 'a':
                  mmd = 'd'
                  #停止
                  PW1.ChangeDutyCycle(0)
                  PW2.ChangeDutyCycle(0)
                  PW3.ChangeDutyCycle(0)
                  PW4.ChangeDutyCycle(0)
                  PW5.ChangeDutyCycle(0)
                  PW6.ChangeDutyCycle(0)
                  PW7.ChangeDutyCycle(0)
                  PW8.ChangeDutyCycle(0)

                  #前進右轉右綠
                  for dc in range(0, 100, 50):
                     PW1.ChangeDutyCycle(dc) #加速
                     PW5.ChangeDutyCycle(dc) #加速
                     time.sleep(1)
            elif mmd == 'z':
                  mmd = 'c'
                  #停止
                  PW1.ChangeDutyCycle(0)
                  PW2.ChangeDutyCycle(0)
                  PW3.ChangeDutyCycle(0)
                  PW4.ChangeDutyCycle(0)
                  PW5.ChangeDutyCycle(0)
                  PW6.ChangeDutyCycle(0)
                  PW7.ChangeDutyCycle(0)
                  PW8.ChangeDutyCycle(0)

                  #后退右轉右紅
                  for dc in range(0, 100, 50):
                     PW4.ChangeDutyCycle(dc) #加速
                     PW8.ChangeDutyCycle(dc) #加速
                     time.sleep(1)
#左轉
         elif cmd == 'q':
            print "mmd = ",mmd
            if mmd == 'w':
                  mmd = 'a'
                  #前進左轉左綠
                  PW1.ChangeDutyCycle(0)
                  PW2.ChangeDutyCycle(0)
                  PW4.ChangeDutyCycle(0)
                  PW5.ChangeDutyCycle(0)
                  PW6.ChangeDutyCycle(0)
                  PW8.ChangeDutyCycle(0)

            elif mmd == 's':
                  mmd = 'z'
                  #后退左轉左紅
                  PW1.ChangeDutyCycle(0)
                  PW3.ChangeDutyCycle(0)
                  PW4.ChangeDutyCycle(0)
                  PW5.ChangeDutyCycle(0)
                  PW7.ChangeDutyCycle(0)
                  PW8.ChangeDutyCycle(0)

            elif mmd == 'r':
                  mmd = 'a'
                  #前進左轉左綠
                  PW1.ChangeDutyCycle(0)
                  PW2.ChangeDutyCycle(0)
                  PW4.ChangeDutyCycle(0)
                  PW5.ChangeDutyCycle(0)
                  PW6.ChangeDutyCycle(0)
                  PW8.ChangeDutyCycle(0)
                  for dc in range(0, 100, 50):
                     PW3.ChangeDutyCycle(dc) #加速
                     PW7.ChangeDutyCycle(dc) #加速
                     time.sleep(1)
            elif mmd == 'a':
                  pass

            elif mmd == 'z':
                  pass

            elif mmd == 'd':
                  mmd = 'a'
                  #停止
                  PW1.ChangeDutyCycle(0)
                  PW2.ChangeDutyCycle(0)
                  PW3.ChangeDutyCycle(0)
                  PW4.ChangeDutyCycle(0)
                  PW5.ChangeDutyCycle(0)
                  PW6.ChangeDutyCycle(0)
                  PW7.ChangeDutyCycle(0)
                  PW8.ChangeDutyCycle(0)

                  #前進左轉左綠
                  for dc in range(0, 100, 50):
                     PW3.ChangeDutyCycle(dc) #加速
                     PW7.ChangeDutyCycle(dc) #加速
                     time.sleep(1)
            elif mmd == 'c':
                  mmd = 'z'
                  #停止
                  PW1.ChangeDutyCycle(0)
                  PW2.ChangeDutyCycle(0)
                  PW3.ChangeDutyCycle(0)
                  PW4.ChangeDutyCycle(0)
                  PW5.ChangeDutyCycle(0)
                  PW6.ChangeDutyCycle(0)
                  PW7.ChangeDutyCycle(0)
                  PW8.ChangeDutyCycle(0)

                  #后退左轉左紅
                  for dc in range(0, 100, 50):
                     PW2.ChangeDutyCycle(dc) #加速
                     PW6.ChangeDutyCycle(dc) #加速
                     time.sleep(1)
#尋跡
         elif cmd == 'xun':
            print "xun"
            if(thread_num == 0):
                  t = Thread(target = thread_xunji)
                  t.start()
                  thread_num = 1
            else:
                  print "thread"
                  client.send('Thread is working...')
            #t.join()
#避障
         elif cmd == 'bi':
            print "bi"
            if(thread_bi == 0):
                  t = Thread(target = thread_bizhang)
                  t.start()
                  thread_bi = 1
            else:
                  num_bi = 0
         elif cmd == 'end':
            break
      client.close()  #關閉對應客戶端
#捕捉到ctrl + c后停止電機
except KeyboardInterrupt:
PW1.ChangeDutyCycle(0)
PW2.ChangeDutyCycle(0)
PW3.ChangeDutyCycle(0)
PW4.ChangeDutyCycle(0)
PW5.ChangeDutyCycle(0)
PW6.ChangeDutyCycle(0)
PW7.ChangeDutyCycle(0)
PW8.ChangeDutyCycle(0)

作者: roottan 時間: 2018-11-18 02:27
喜歡，我機會我也搞臺來試試

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