#coding:utf-8 #设置中文编码
import RPi.GPIO as GPIO #导入树莓派GPIO模块
import sys,time #导入时间模块
from threading import * #导入thread模块所有函数
dc = 0 #速度
mmd = 'r' #上一次的行驶状态
num = 1 #寻迹状态标志
thread_num = 0 #寻迹线程个数
thread_bi = 0 #避障线程个数
num_bi = 1 #避障状态标志
#定义控制马达的两个引脚
m1 = 23
m2 = 22
m3 = 24
m4 = 27
m5 = 19
m6 = 13
m7 = 20
m8 = 16
GPIO.setwarnings(False) #设置屏蔽警告信息
GPIO.setmode(GPIO.BCM) #设置引脚为BCM编码模式
GPIO.setup(m1,GPIO.OUT) #设置m1方向为输出
GPIO.setup(m2,GPIO.OUT) #设置m2方向为输出
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)
'''
#定义灯的引脚
g1 = 5
g2 = 6
g3 = 21
g4 = 12
#左边
GPIO.setup(g1,GPIO.OUT) #红色
GPIO.setup(g2,GPIO.OUT) #绿色
#右边
GPIO.setup(g3,GPIO.OUT) #红色
GPIO.setup(g4,GPIO.OUT) #绿色
'''
#定义寻迹引脚
LineR = 26
LineL = 17
LineM1 = 25
LineM2 = 18
GPIO.setup(LineR,GPIO.IN,GPIO.PUD_UP) #设置引脚为输入
GPIO.setup(LineL,GPIO.IN,GPIO.PUD_UP) #设置引脚为输入
GPIO.setup(LineM1,GPIO.IN,GPIO.PUD_UP) #设置引脚为输入
GPIO.setup(LineM2,GPIO.IN,GPIO.PUD_UP) #设置引脚为输入
#加减速
PW1 = GPIO.PWM(m1,500) #设置PWM脉冲频率
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) #设置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(): #子线程实现函数
sum = 0
global num #声明全局变量
global thread_num #声明全局变量
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 "悬空"
PW1.ChangeDutyCycle(0)
PW2.ChangeDutyCycle(0)
PW3.ChangeDutyCycle(0)
PW4.ChangeDutyCycle(0)
PW5.ChangeDutyCycle(0)
PW6.ChangeDutyCycle(0)
PW7.ChangeDutyCycle(0)
PW8.ChangeDutyCycle(0)
#左边碰到黑带左转
elif(GPIO.input(LineL)==1 and GPIO.input(LineR)==0 and
GPIO.input(LineM1)==0 and GPIO.input(LineM2)==0):
print "左转"
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 "右转"
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 "前进"
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)
#前进全绿
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 * #导入模块中所有函数，可以直接使用函数名，不需要带模块名
#第一步：创建套接字
server = socket() #创建一个套接字 TCP，IPV4
print server
#第二步：绑定IP地址和端口号
server.bind(('172.27.35.3', 9996)) #绑定本地IP地址，端口号为8989
#第三步：监听
server.listen(5) #监听客户端链接，队列长度为5
#第四步：接收客户端链接
try: #捕捉while中是否有ctrl + C按下
while 1 :
print 'accept...'
client,addr = server.accept() #接受链接到服务器的客户端，得到客户端元组
print client,addr
client.send('welcome...')
while 1:
cmd = client.recv(100) #从客户端接收100个数据存放到服务器buff
print '客户端发来消息：',cmd
print "正在运行"
#前进
if cmd == 'w':
print "mmd = ",mmd
if mmd == 'w':
#维持现状
pass
elif mmd == 'r':
#设置PW脚脉冲为0
PW2.ChangeDutyCycle(0)
PW4.ChangeDutyCycle(0)
PW6.ChangeDutyCycle(0)
PW8.ChangeDutyCycle(0)
#dc = 60
#启动时60码
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':
#先减速
#设置PW脚脉冲为0
PW1.ChangeDutyCycle(0)
PW3.ChangeDutyCycle(0)
PW5.ChangeDutyCycle(0)
PW7.ChangeDutyCycle(0)
for ac in range(dc, 0, -50):
PW2.ChangeDutyCycle(ac) #减速
PW4.ChangeDutyCycle(ac) #减速
PW6.ChangeDutyCycle(ac) #减速
PW8.ChangeDutyCycle(ac) #减速
time.sleep(1)
#再加速
#设置PW脚脉冲为0
PW2.ChangeDutyCycle(0)
PW4.ChangeDutyCycle(0)
PW6.ChangeDutyCycle(0)
PW8.ChangeDutyCycle(0)
#dc = 60
#启动时60码
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:
#先暂停
PW1.ChangeDutyCycle(0)
PW2.ChangeDutyCycle(0)
PW3.ChangeDutyCycle(0)
PW4.ChangeDutyCycle(0)
PW5.ChangeDutyCycle(0)
PW6.ChangeDutyCycle(0)
PW7.ChangeDutyCycle(0)
PW8.ChangeDutyCycle(0)
#设置PW脚脉冲为0
PW2.ChangeDutyCycle(0)
PW4.ChangeDutyCycle(0)
PW6.ChangeDutyCycle(0)
PW8.ChangeDutyCycle(0)
#dc = 60
#启动时60码
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)
#记录状态
mmd = 'w'
#后退
elif cmd == 's':
print "mmd = ",mmd
if mmd == 's':
#维持现状
pass
elif mmd == 'w':
#先减速
#设置PW脚脉冲为0
PW2.ChangeDutyCycle(0)
PW4.ChangeDutyCycle(0)
PW6.ChangeDutyCycle(0)
PW8.ChangeDutyCycle(0)
for ac in range(dc, 0, -50):
PW1.ChangeDutyCycle(ac) #减速
PW3.ChangeDutyCycle(ac) #减速
PW5.ChangeDutyCycle(ac) #减速
PW7.ChangeDutyCycle(ac) #减速
time.sleep(1)
#再加速
#设置PW脚脉冲为0
PW1.ChangeDutyCycle(0)
PW3.ChangeDutyCycle(0)
PW5.ChangeDutyCycle(0)
PW7.ChangeDutyCycle(0)
#dc = 60
#启动时60码
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
#设置PW脚脉冲为0
PW1.ChangeDutyCycle(0)
PW3.ChangeDutyCycle(0)
PW5.ChangeDutyCycle(0)
PW7.ChangeDutyCycle(0)
#启动时60码
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
#设置PW脚脉冲为0
PW1.ChangeDutyCycle(0)
PW3.ChangeDutyCycle(0)
PW5.ChangeDutyCycle(0)
PW7.ChangeDutyCycle(0)
#dc = 60
#启动时60码
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)
#记录状态：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)
#右转
elif cmd == 'e':
print "mmd = ",mmd
if mmd == 'w':
mmd = 'd'
#前进右转右绿
PW2.ChangeDutyCycle(0)
PW3.ChangeDutyCycle(0)
PW4.ChangeDutyCycle(0)
PW6.ChangeDutyCycle(0)
PW7.ChangeDutyCycle(0)
PW8.ChangeDutyCycle(0)
elif mmd == 's':
mmd = 'c'
#后退右转右红
PW1.ChangeDutyCycle(0)
PW2.ChangeDutyCycle(0)
PW3.ChangeDutyCycle(0)
PW5.ChangeDutyCycle(0)
PW6.ChangeDutyCycle(0)
PW7.ChangeDutyCycle(0)
elif mmd == 'r':
mmd = 'd'
#停车右转右绿
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)
#前进右转右绿
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)
#后退右转右红
for dc in range(0, 100, 50):
PW4.ChangeDutyCycle(dc) #加速
PW8.ChangeDutyCycle(dc) #加速
time.sleep(1)
#左转
elif cmd == 'q':
print "mmd = ",mmd
if mmd == 'w':
mmd = 'a'
#前进左转左绿
PW1.ChangeDutyCycle(0)
PW2.ChangeDutyCycle(0)
PW4.ChangeDutyCycle(0)
PW5.ChangeDutyCycle(0)
PW6.ChangeDutyCycle(0)
PW8.ChangeDutyCycle(0)
elif mmd == 's':
mmd = 'z'
#后退左转左红
PW1.ChangeDutyCycle(0)
PW3.ChangeDutyCycle(0)
PW4.ChangeDutyCycle(0)
PW5.ChangeDutyCycle(0)
PW7.ChangeDutyCycle(0)
PW8.ChangeDutyCycle(0)
elif mmd == 'r':
mmd = 'a'
#前进左转左绿
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)
#前进左转左绿
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)
#后退左转左红
for dc in range(0, 100, 50):
PW2.ChangeDutyCycle(dc) #加速
PW6.ChangeDutyCycle(dc) #加速
time.sleep(1)
#寻迹
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() #关闭对应客户端
#捕捉到ctrl + c后停止电机
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)
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