【代码】树莓派小车蓝牙键盘遥控方向行驶

墨蓝 2022-02-05 03:23 497阅读 0赞

> 连接蓝牙键盘，实现像遥控小车一样的效果

环境：安装pynput库

使用方法：运行程序，按键WASD，实现前进左右后退

# coding:utf-8
    import RPi.GPIO as gpio
    import time, sys
    from pynput import keyboard
    
    # 定义引脚
    in1 = 12
    in2 = 16
    in3 = 18
    in4 = 22
    
    # 设置GPIO口为BOARD编号规范
    gpio.setmode(gpio.BOARD)
    
    # 设置GPIO口为输出
    gpio.setup(in1, gpio.OUT)
    gpio.setup(in2, gpio.OUT)
    gpio.setup(in3, gpio.OUT)
    gpio.setup(in4, gpio.OUT)
    
    # 设置PWM波,频率为500Hz
    pwm1 = gpio.PWM(in1, 500)
    pwm2 = gpio.PWM(in2, 500)
    pwm3 = gpio.PWM(in3, 500)
    pwm4 = gpio.PWM(in4, 500)
    pwm1.start(0)
    pwm2.start(0)
    pwm3.start(0)
    pwm4.start(0)
    
    
    # 定义向前
    def go():
        pwm1.ChangeDutyCycle(50)
        pwm2.ChangeDutyCycle(0)
        pwm3.ChangeDutyCycle(50)
        pwm4.ChangeDutyCycle(0)
        # gpio.output(in1, gpio.HIGH)
        # gpio.output(in2, gpio.LOW)
        # gpio.output(in3, gpio.HIGH)
        # gpio.output(in4, gpio.LOW)
    
    
    # 定义向右
    def right():
        pwm1.ChangeDutyCycle(50)
        pwm2.ChangeDutyCycle(0)
        pwm3.ChangeDutyCycle(30)
        pwm4.ChangeDutyCycle(0)
        # gpio.output(in1, gpio.HIGH)
        # gpio.output(in2, gpio.LOW)
        # gpio.output(in3, gpio.LOW)
        # gpio.output(in4, gpio.HIGH)
    
    
    # 定义向左
    def left():
        pwm1.ChangeDutyCycle(30)
        pwm2.ChangeDutyCycle(0)
        pwm3.ChangeDutyCycle(50)
        pwm4.ChangeDutyCycle(0)
        # gpio.output(in1, gpio.LOW)
        # gpio.output(in2, gpio.HIGH)
        # gpio.output(in3, gpio.HIGH)
        # gpio.output(in4, gpio.LOW)
    
    
    # 定义向后
    def back():
        pwm1.ChangeDutyCycle(0)
        pwm2.ChangeDutyCycle(50)
        pwm3.ChangeDutyCycle(0)
        pwm4.ChangeDutyCycle(50)
        # gpio.output(in1, gpio.LOW)
        # gpio.output(in2, gpio.HIGH)
        # gpio.output(in3, gpio.LOW)
        # gpio.output(in4, gpio.HIGH)
    
    
    # 定义停止
    def stop():
        pwm1.ChangeDutyCycle(0)
        pwm2.ChangeDutyCycle(0)
        pwm3.ChangeDutyCycle(0)
        pwm4.ChangeDutyCycle(0)
        # gpio.output(in1, gpio.LOW)
        # gpio.output(in2, gpio.LOW)
        # gpio.output(in3, gpio.LOW)
        # gpio.output(in4, gpio.LOW)
    
    
    def on_press(key):
        try:
            if key.char == 'w':
                go()
            if key.char == 'a':
                left()
            if key.char == 's':
                back()
            if key.char == 'd':
                right()
        except AttributeError:
            print('special key {0} pressed'.format(key))
    
    
    def on_release(key):
        stop()
        if key == keyboard.Key.esc:
            return False
    
    # 键盘监听
    while True:
        with keyboard.Listener(
                on_press=on_press, on_release=on_release) as listener:
            listener.join()
    
    pwm1.stop()
    pwm2.stop()
    pwm3.stop()
    pwm4.stop()
    gpio.cleanup()