python 智能小车源码 - - Powered by Discuz!

标题: python 智能小车源码 [打印本页]

作者: 的为、ff 时间: 2018-11-13 14:43
标题: python 智能小车源码

#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)

作者: roottan 时间: 2018-11-18 02:27
喜欢，我机会我也搞台来试试

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