树莓派 42 电机 PWM 驱动麦克纳姆轮完整程序

以下是一个基本的 42 电机树莓派结合 PWM 驱动麦克纳姆轮的完整程序示例：

import RPi.GPIO as GPIO
import time

# 定义电机引脚
motor1_pin1 = 11
motor1_pin2 = 12
motor2_pin1 = 13
motor2_pin2 = 15
motor3_pin1 = 16
motor3_pin2 = 18
motor4_pin1 = 22
motor4_pin2 = 7

# 初始化GPIO
GPIO.setmode(GPIO.BOARD)
GPIO.setup(motor1_pin1, GPIO.OUT)
GPIO.setup(motor1_pin2, GPIO.OUT)
GPIO.setup(motor2_pin1, GPIO.OUT)
GPIO.setup(motor2_pin2, GPIO.OUT)
GPIO.setup(motor3_pin1, GPIO.OUT)
GPIO.setup(motor3_pin2, GPIO.OUT)
GPIO.setup(motor4_pin1, GPIO.OUT)
GPIO.setup(motor4_pin2, GPIO.OUT)

# 初始化PWM引脚
motor1_pwm = GPIO.PWM(motor1_pin1, 100)
motor2_pwm = GPIO.PWM(motor2_pin1, 100)
motor3_pwm = GPIO.PWM(motor3_pin1, 100)
motor4_pwm = GPIO.PWM(motor4_pin1, 100)

# 启动PWM
motor1_pwm.start(0)
motor2_pwm.start(0)
motor3_pwm.start(0)
motor4_pwm.start(0)

# 定义控制函数
def set_speed(motor, speed):
    if speed > 0:
        GPIO.output(motor['pin1'], GPIO.HIGH)
        GPIO.output(motor['pin2'], GPIO.LOW)
        motor['pwm'].ChangeDutyCycle(speed)
    elif speed < 0:
        GPIO.output(motor['pin1'], GPIO.LOW)
        GPIO.output(motor['pin2'], GPIO.HIGH)
        motor['pwm'].ChangeDutyCycle(-speed)
    else:
        GPIO.output(motor['pin1'], GPIO.LOW)
        GPIO.output(motor['pin2'], GPIO.LOW)
        motor['pwm'].ChangeDutyCycle(0)

# 控制麦克纳姆轮
def control_omni_wheel(vx, vy, wz):
    motor1_speed = vx - vy - wz
    motor2_speed = vx + vy - wz
    motor3_speed = vx + vy + wz
    motor4_speed = vx - vy + wz

    set_speed({'pin1': motor1_pin1, 'pin2': motor1_pin2, 'pwm': motor1_pwm}, motor1_speed)
    set_speed({'pin1': motor2_pin1, 'pin2': motor2_pin2, 'pwm': motor2_pwm}, motor2_speed)
    set_speed({'pin1': motor3_pin1, 'pin2': motor3_pin2, 'pwm': motor3_pwm}, motor3_speed)
    set_speed({'pin1': motor4_pin1, 'pin2': motor4_pin2, 'pwm': motor4_pwm}, motor4_speed)

# 测试程序
try:
    while True:
        control_omni_wheel(50, 0, 0)  # 向前移动
        time.sleep(2)
        control_omni_wheel(0, 50, 0)  # 向右移动
        time.sleep(2)
        control_omni_wheel(0, -50, 0)  # 向左移动
        time.sleep(2)
        control_omni_wheel(0, 0, 50)  # 顺时针旋转
        time.sleep(2)
        control_omni_wheel(0, 0, -50)  # 逆时针旋转
        time.sleep(2)
        control_omni_wheel(0, 0, 0)  # 停止
        time.sleep(2)
except KeyboardInterrupt:
    GPIO.cleanup()

这个程序使用 RPi.GPIO 库来控制树莓派的 GPIO 引脚，并使用 PWM 来控制电机的速度。在控制麦克纳姆轮时，通过调整电机的速度来实现不同的方向和旋转。

请注意，这只是一个基本的示例程序，你可能需要根据自己的具体情况进行适当的修改和调整。