树莓派循迹小车代码示例 - RPi.GPIO库实现自动循迹

以下是一个简单的小车循迹代码示例：\n\npython\nimport RPi.GPIO as GPIO\n\n# 设置引脚号\nleft_sensor_pin = 11\nmiddle_sensor_pin = 13\nright_sensor_pin = 15\nleft_motor_pin1 = 16\nleft_motor_pin2 = 18\nright_motor_pin1 = 21\nright_motor_pin2 = 23\n\n# 初始化GPIO\nGPIO.setmode(GPIO.BOARD)\nGPIO.setup(left_sensor_pin, GPIO.IN)\nGPIO.setup(middle_sensor_pin, GPIO.IN)\nGPIO.setup(right_sensor_pin, GPIO.IN)\nGPIO.setup(left_motor_pin1, GPIO.OUT)\nGPIO.setup(left_motor_pin2, GPIO.OUT)\nGPIO.setup(right_motor_pin1, GPIO.OUT)\nGPIO.setup(right_motor_pin2, GPIO.OUT)\n\n# 循迹函数\ndef follow_track():\n left_sensor = GPIO.input(left_sensor_pin)\n middle_sensor = GPIO.input(middle_sensor_pin)\n right_sensor = GPIO.input(right_sensor_pin)\n \n if left_sensor == 1 and middle_sensor == 0 and right_sensor == 1:\n # 左右传感器都在黑线上，中间传感器不在黑线上，向前直行\n GPIO.output(left_motor_pin1, GPIO.HIGH)\n GPIO.output(left_motor_pin2, GPIO.LOW)\n GPIO.output(right_motor_pin1, GPIO.HIGH)\n GPIO.output(right_motor_pin2, GPIO.LOW)\n elif left_sensor == 0 and middle_sensor == 1 and right_sensor == 0:\n # 左右传感器都不在黑线上，中间传感器在黑线上，向前直行\n GPIO.output(left_motor_pin1, GPIO.HIGH)\n GPIO.output(left_motor_pin2, GPIO.LOW)\n GPIO.output(right_motor_pin1, GPIO.HIGH)\n GPIO.output(right_motor_pin2, GPIO.LOW)\n elif left_sensor == 1 and middle_sensor == 1 and right_sensor == 0:\n # 左右传感器都在黑线上，中间传感器在黑线外，向右转弯\n GPIO.output(left_motor_pin1, GPIO.HIGH)\n GPIO.output(left_motor_pin2, GPIO.LOW)\n GPIO.output(right_motor_pin1, GPIO.LOW)\n GPIO.output(right_motor_pin2, GPIO.HIGH)\n elif left_sensor == 0 and middle_sensor == 1 and right_sensor == 1:\n # 左右传感器都在黑线上，中间传感器在黑线外，向左转弯\n GPIO.output(left_motor_pin1, GPIO.LOW)\n GPIO.output(left_motor_pin2, GPIO.HIGH)\n GPIO.output(right_motor_pin1, GPIO.HIGH)\n GPIO.output(right_motor_pin2, GPIO.LOW)\n else:\n # 其他情况停止\n GPIO.output(left_motor_pin1, GPIO.LOW)\n GPIO.output(left_motor_pin2, GPIO.LOW)\n GPIO.output(right_motor_pin1, GPIO.LOW)\n GPIO.output(right_motor_pin2, GPIO.LOW)\n\n# 主循环\ntry:\n while True:\n follow_track()\nfinally:\n GPIO.cleanup()\n\n\n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。