小车循迹代码

以下是一个简单的小车循迹代码示例：

import RPi.GPIO as GPIO

# 设置引脚号
left_sensor_pin = 11
middle_sensor_pin = 13
right_sensor_pin = 15
left_motor_pin1 = 16
left_motor_pin2 = 18
right_motor_pin1 = 21
right_motor_pin2 = 23

# 初始化GPIO
GPIO.setmode(GPIO.BOARD)
GPIO.setup(left_sensor_pin, GPIO.IN)
GPIO.setup(middle_sensor_pin, GPIO.IN)
GPIO.setup(right_sensor_pin, GPIO.IN)
GPIO.setup(left_motor_pin1, GPIO.OUT)
GPIO.setup(left_motor_pin2, GPIO.OUT)
GPIO.setup(right_motor_pin1, GPIO.OUT)
GPIO.setup(right_motor_pin2, GPIO.OUT)

# 循迹函数
def follow_track():
    left_sensor = GPIO.input(left_sensor_pin)
    middle_sensor = GPIO.input(middle_sensor_pin)
    right_sensor = GPIO.input(right_sensor_pin)
    
    if left_sensor == 1 and middle_sensor == 0 and right_sensor == 1:
        # 左右传感器都在黑线上，中间传感器不在黑线上，向前直行
        GPIO.output(left_motor_pin1, GPIO.HIGH)
        GPIO.output(left_motor_pin2, GPIO.LOW)
        GPIO.output(right_motor_pin1, GPIO.HIGH)
        GPIO.output(right_motor_pin2, GPIO.LOW)
    elif left_sensor == 0 and middle_sensor == 1 and right_sensor == 0:
        # 左右传感器都不在黑线上，中间传感器在黑线上，向前直行
        GPIO.output(left_motor_pin1, GPIO.HIGH)
        GPIO.output(left_motor_pin2, GPIO.LOW)
        GPIO.output(right_motor_pin1, GPIO.HIGH)
        GPIO.output(right_motor_pin2, GPIO.LOW)
    elif left_sensor == 1 and middle_sensor == 1 and right_sensor == 0:
        # 左右传感器都在黑线上，中间传感器在黑线外，向右转弯
        GPIO.output(left_motor_pin1, GPIO.HIGH)
        GPIO.output(left_motor_pin2, GPIO.LOW)
        GPIO.output(right_motor_pin1, GPIO.LOW)
        GPIO.output(right_motor_pin2, GPIO.HIGH)
    elif left_sensor == 0 and middle_sensor == 1 and right_sensor == 1:
        # 左右传感器都在黑线上，中间传感器在黑线外，向左转弯
        GPIO.output(left_motor_pin1, GPIO.LOW)
        GPIO.output(left_motor_pin2, GPIO.HIGH)
        GPIO.output(right_motor_pin1, GPIO.HIGH)
        GPIO.output(right_motor_pin2, GPIO.LOW)
    else:
        # 其他情况停止
        GPIO.output(left_motor_pin1, GPIO.LOW)
        GPIO.output(left_motor_pin2, GPIO.LOW)
        GPIO.output(right_motor_pin1, GPIO.LOW)
        GPIO.output(right_motor_pin2, GPIO.LOW)

# 主循环
try:
    while True:
        follow_track()
finally:
    GPIO.cleanup()

这是一个基于树莓派的循迹小车代码示例，使用了RPi.GPIO库来控制GPIO引脚。代码中定义了引脚号以及初始化GPIO设置。循迹函数follow_track()根据传感器的状态来控制小车的行动，通过设置电机的引脚状态来控制小车的前进、转弯或停止。在主循环中不断调用follow_track()函数来实现循迹行驶。最后通过GPIO.cleanup()来清理GPIO设置