基于ESP32的智能遥控小车

#!/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 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 = 34 IRremote_pin = 35 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 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(): state = 0 speed = 512 ir = IR(IRremote_pin) changed, s, repeat, ir_ok = ir.scan() if changed == True: if s == '1': speed = 512 elif s == '2': speed = 640 elif s == '3': speed = 768 if repeat >= 2: if s == 'up' and state != 1: state = 1 motro_left1.duty(speed) motro_left2.duty(0) motro_right1.duty(speed) motro_right2.duty(0) print("state1"," up") elif s == 'down' and state != 2: state = 2 motro_left1.duty(0) motro_left2.duty(speed) motro_right1.duty(0) motro_right2.duty(speed) print("state2"," down") elif s == 'left' and state != 3: state = 3 motro_left1.duty(0) motro_left2.duty(0) motro_right1.duty(int(speed/2 + 128)) motro_right2.duty(0) print("state3"," left") elif s == 'right' and state != 4: state = 4 motro_left1.duty(int(speed/2 + 128)) motro_left2.duty(0) motro_right1.duty(0) motro_right2.duty(0) print("state4"," right") else: if state != 0: state = 0 pwm1.duty(0) pwm2.duty(0) pwm3.duty(0) pwm4.duty(0) 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")