1.安裝LOBOROBOT庫函數
LOBOROBOT.py代碼如下：
#!/usr/bin/python
# -*- coding: utf-8 -*-import time
import math
import smbus
import RPi.GPIO as GPIODir = ['forward','backward',
]class PCA9685:# Registers/etc.__SUBADR1 = 0x02__SUBADR2 = 0x03__SUBADR3 = 0x04__MODE1 = 0x00__PRESCALE = 0xFE__LED0_ON_L = 0x06__LED0_ON_H = 0x07__LED0_OFF_L = 0x08__LED0_OFF_H = 0x09__ALLLED_ON_L = 0xFA__ALLLED_ON_H = 0xFB__ALLLED_OFF_L = 0xFC__ALLLED_OFF_H = 0xFDdef __init__(self, address, debug=False):self.bus = smbus.SMBus(1)self.address = addressself.debug = debugif (self.debug):print("Reseting PCA9685")self.write(self.__MODE1, 0x00)def write(self, reg, value):"Writes an 8-bit value to the specified register/address"self.bus.write_byte_data(self.address, reg, value)if (self.debug):print("I2C: Write 0x%02X to register 0x%02X" % (value, reg))def read(self, reg):"Read an unsigned byte from the I2C device"result = self.bus.read_byte_data(self.address, reg)if (self.debug):print("I2C: Device 0x%02X returned 0x%02X from reg 0x%02X" % (self.address, result & 0xFF, reg))return resultdef setPWMFreq(self, freq):"Sets the PWM frequency"prescaleval = 25000000.0 # 25MHzprescaleval /= 4096.0 # 12-bitprescaleval /= float(freq)prescaleval -= 1.0if (self.debug):print("Setting PWM frequency to %d Hz" % freq)print("Estimated pre-scale: %d" % prescaleval)prescale = math.floor(prescaleval + 0.5)if (self.debug):print("Final pre-scale: %d" % prescale)oldmode = self.read(self.__MODE1)newmode = (oldmode & 0x7F) | 0x10 # sleepself.write(self.__MODE1, newmode) # go to sleepself.write(self.__PRESCALE, int(math.floor(prescale)))self.write(self.__MODE1, oldmode)time.sleep(0.005)self.write(self.__MODE1, oldmode | 0x80)def setPWM(self, channel, on, off):"Sets a single PWM channel"self.write(self.__LED0_ON_L + 4*channel, on & 0xFF)self.write(self.__LED0_ON_H + 4*channel, on >> 8)self.write(self.__LED0_OFF_L + 4*channel, off & 0xFF)self.write(self.__LED0_OFF_H + 4*channel, off >> 8)if (self.debug):print("channel: %d LED_ON: %d LED_OFF: %d" % (channel,on,off))def setDutycycle(self, channel, pulse):self.setPWM(channel, 0, int(pulse * (4096 / 100)))def setLevel(self, channel, value):if (value == 1):self.setPWM(channel, 0, 4095)else:self.setPWM(channel, 0, 0)# 控制機器人庫
class LOBOROBOT():def __init__(self):self.PWMA = 0self.AIN1 = 2self.AIN2 = 1self.PWMB = 5self.BIN1 = 3self.BIN2 = 4self.PWMC = 6self.CIN2 = 7self.CIN1 = 8self.PWMD = 11self.DIN1 = 25self.DIN2 = 24self.pwm = PCA9685(0x40, debug=False)self.pwm.setPWMFreq(50)GPIO.setwarnings(False)GPIO.setmode(GPIO.BCM)GPIO.setup(self.DIN1,GPIO.OUT)GPIO.setup(self.DIN2,GPIO.OUT)def MotorRun(self, motor, index, speed):if speed > 100:returnif(motor == 0):self.pwm.setDutycycle(self.PWMA, speed)if(index == Dir[0]):self.pwm.setLevel(self.AIN1, 0)self.pwm.setLevel(self.AIN2, 1)else:self.pwm.setLevel(self.AIN1, 1)self.pwm.setLevel(self.AIN2, 0)elif(motor == 1):self.pwm.setDutycycle(self.PWMB, speed)if(index == Dir[0]):self.pwm.setLevel(self.BIN1, 1)self.pwm.setLevel(self.BIN2, 0)else:self.pwm.setLevel(self.BIN1, 0)self.pwm.setLevel(self.BIN2, 1)elif(motor == 2):self.pwm.setDutycycle(self.PWMC,speed)if(index == Dir[0]):self.pwm.setLevel(self.CIN1,1)self.pwm.setLevel(self.CIN2,0)else:self.pwm.setLevel(self.CIN1,0)self.pwm.setLevel(self.CIN2,1)elif(motor == 3):self.pwm.setDutycycle(self.PWMD,speed)if (index == Dir[0]):GPIO.output(self.DIN1,0)GPIO.output(self.DIN2,1)else:GPIO.output(self.DIN1,1)GPIO.output(self.DIN2,0)def MotorStop(self, motor):if (motor == 0):self.pwm.setDutycycle(self.PWMA, 0)elif(motor == 1):self.pwm.setDutycycle(self.PWMB, 0)elif(motor == 2):self.pwm.setDutycycle(self.PWMC, 0)elif(motor == 3):self.pwm.setDutycycle(self.PWMD, 0)# 前進def t_up(self,speed,t_time):self.MotorRun(0,'forward',speed)self.MotorRun(1,'forward',speed)self.MotorRun(2,'forward',speed)self.MotorRun(3,'forward',speed)time.sleep(t_time)#后退def t_down(self,speed,t_time):self.MotorRun(0,'backward',speed)self.MotorRun(1,'backward',speed)self.MotorRun(2,'backward',speed)self.MotorRun(3,'backward',speed)time.sleep(t_time)# 左移def moveLeft(self,speed,t_time):self.MotorRun(0,'backward',speed)self.MotorRun(1,'forward',speed)self.MotorRun(2,'forward',speed)self.MotorRun(3,'backward',speed)time.sleep(t_time)#右移def moveRight(self,speed,t_time):self.MotorRun(0,'forward',speed)self.MotorRun(1,'backward',speed)self.MotorRun(2,'backward',speed)self.MotorRun(3,'forward',speed)time.sleep(t_time)# 左轉def turnLeft(self,speed,t_time):self.MotorRun(0,'backward',speed)self.MotorRun(1,'forward',speed)self.MotorRun(2,'backward',speed)self.MotorRun(3,'forward',speed)time.sleep(t_time)# 右轉def turnRight(self,speed,t_time):self.MotorRun(0,'forward',speed)self.MotorRun(1,'backward',speed)self.MotorRun(2,'forward',speed)self.MotorRun(3,'backward',speed)time.sleep(t_time)# 前左斜def forward_Left(self,speed,t_time):self.MotorStop(0)self.MotorRun(1,'forward',speed)self.MotorRun(2,'forward',speed)self.MotorStop(0)time.sleep(t_time)# 前右斜def forward_Right(self,speed,t_time):self.MotorRun(0,'forward',speed)self.MotorStop(1)self.MotorStop(2)self.MotorRun(3,'forward',speed)time.sleep(t_time)# 后左斜def backward_Left(self,speed,t_time):self.MotorRun(0,'backward',speed)self.MotorStop(1)self.MotorStop(2)self.MotorRun(3,'backward',speed)time.sleep(t_time)# 后右斜def backward_Right(self,speed,t_time):self.MotorStop(0)self.MotorRun(1,'backward',speed)self.MotorRun(2,'backward',speed)self.MotorStop(3)time.sleep(t_time)# 停止def t_stop(self,t_time):self.MotorStop(0)self.MotorStop(1)self.MotorStop(2)self.MotorStop(3)time.sleep(t_time)# 輔助功能，使設置舵機脈沖寬度更簡單。def set_servo_pulse(self,channel,pulse):pulse_length = 1000000 # 1,000,000 us per secondpulse_length //= 60 # 60 Hzprint('{0}us per period'.format(pulse_length))pulse_length //= 4096 # 12 bits of resolutionprint('{0}us per bit'.format(pulse_length))pulse *= 1000pulse //= pulse_lengthself.pwm.setPWM(channel, 0, pulse)# 設置舵機角度函數 def set_servo_angle(self,channel,angle):angle=4096*((angle*11)+500)/20000self.pwm.setPWM(channel,0,int(angle))遠程連接樹莓派智能小車
運行LOBOROBOT.py代碼，加載上了庫函數
2.運行基本移動代碼
from LOBOROBOT import LOBOROBOT # 載入機器人庫import osif __name__ == "__main__":clbrobot = LOBOROBOT() # 實例化機器人對象try:while True:clbrobot.t_up(50,3) # 機器人前進clbrobot.t_stop(1) # 機器人停止clbrobot.t_down(50,3) # 機器人后退clbrobot.t_stop(1) # 機器人停止clbrobot.turnLeft(50,3) # 機器人左轉clbrobot.t_stop(1) # 機器人停止clbrobot.turnRight(50,3) # 機器人右轉clbrobot.t_stop(1) # 機器人停止clbrobot.moveLeft(50,3) # 機器人左移clbrobot.t_stop(1) # 機器人停止clbrobot.moveRight(50,3) # 機器人右移clbrobot.t_stop(1) # 機器人停止clbrobot.forward_Left(50,3) # 機器人前左斜clbrobot.t_stop(1) # 機器人停止clbrobot.backward_Right(50,3) # 機器人后右斜clbrobot.t_stop(1) # 機器人停止clbrobot.forward_Right(50,3) # 機器人前右斜clbrobot.t_stop(1) # 機器人停止clbrobot.backward_Left(50,3) # 機器人后左斜clbrobot.t_stop(5) # 機器人停止 except KeyboardInterrupt:clbrobot.t_stop(0) # 機器人停止小車完成基本移動，如每行代碼注釋所示
3.實驗視頻如下：
小車基本移動
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