Raspberry Pi - 자동차 제어 (rccar.py)

자동차 제어

참고

• https://gpiozero.readthedocs.io/en/stable/recipes.html#robot
• https://gpiozero.readthedocs.io/en/stable/api_boards.html

08_CAR-EX/ex_01.py

from gpiozero import Robot
from time import sleep

# left/right=(전진,후진,PWM)
robot = Robot(left=(17, 27, 22), right=(15, 18, 14), pwm=True)

for i in range(4):
    robot.forward(0.5)  # 0 ~ 1 사이
    sleep(1)
    robot.stop()
    sleep(1)
    robot.right(0.5)
    sleep(1)
    robot.stop()
    sleep(1)

08_CAR-EX/ex_02.py

from gpiozero import Robot
from time import sleep

# left/right=(전진,후진,PWM)
car = Robot(left=(17, 27, 22), right=(15, 18, 14), pwm=True)

while True:
    cmd = input("> ")

    if cmd == 'q':
        break
    elif cmd == 'l':
        car.left(0.4)
    elif cmd == 'r':
        car.right(0.4)
    elif cmd == 'g':
        car.forward(0.3)
    elif cmd == 'b':
        car.backward(0.3)
    elif cmd == 's':
        car.stop()
    else:
        car.stop()

조이스틱, 블루투스, 차량 제어

08_CAR-EX/rccar.py

from btsocket import BtSocket
from bluetooth import * 

from gpiozero import Robot
from time import sleep

# left/right=(전진,후진,PWM)
car = Robot(left=(17, 27, 22), right=(15, 18, 14), pwm=True)

def car_contol(x, y):
    sx = abs(x) / 255  # 속도 절대값을 0~1 범위로 환산
    sy = abs(y) / 255

    if sy < 0.3 and sx < 0.3:  # 정지
        car.stop()
    elif sy >= 0.3 and sx < 0.3:  # 전진/후진
        if y > 0:  # 부호에 따라 방향 결정
            car.forward(sy)
        else:
            car.backward(sy)
    elif sy < 0.3 and sx >=0.3:  # 회전
        if x > 0:  # 부호에 따라 방향 결정
            car.right(sx)
        else:
            car.left(sx)
    else:
        car.stop()

def control(tokens):
    command = int(tokens[0])
    if command == 0 : # 주행모드
        x = int(tokens[1])
        y = int(tokens[2])
        # 자동차 제어
        car_contol(x, y)


    elif command == 1 : #카메라 모드
        angle = int(tokens[1])
        # servo.angle = angle

RFADDR = "00:18:91:D7:67:13"
client_socket=BtSocket( RFCOMM ) 
client_socket.connect((RFADDR, 1))  # 접속

try:
    while True:
        line = client_socket.readline()  # 동기 함수
        print(line)
        control(line.split(','))
except KeyboardInterrupt:
    print("Finished")

client_socket.close() 

초음파 센서, 조이스틱, 블루투스, 차량 제어

08_CAR-EX/rccar.py

from btsocket import BtSocket
from bluetooth import * 

from gpiozero import Robot, DistanceSensor
from time import sleep

# left/right=(전진,후진,PWM)
car = Robot(left=(17, 27, 22), right=(15, 18, 14), pwm=True)
sensor = DistanceSensor(echo=23, trigger=24)

def car_contol(x, y):
    sx = abs(x) / 255  # 속도 절대값을 0~1 범위로 환산
    sy = abs(y) / 255

    if sy < 0.3 and sx < 0.3:  # 정지
        car.stop()
    elif sy >= 0.3 and sx < 0.3:  # 전진/후진
        if y > 0:  # 부호에 따라 방향 결정
            if sensor.distance*100 <= 20:  # 20cm 이내이면 정지
                car.stop()
            else:
                car.forward(sy)
        else:
            car.backward(sy)
    elif sy < 0.3 and sx >=0.3:  # 회전
        if x > 0:  # 부호에 따라 방향 결정
            car.right(sx)
        else:
            car.left(sx)
    else:
        car.stop()

def control(tokens):
    command = int(tokens[0])
    if command == 0 : # 주행모드
        x = int(tokens[1])
        y = int(tokens[2])
        # 자동차 제어
        car_contol(x, y)


    elif command == 1 : #카메라 모드
        angle = int(tokens[1])
        # servo.angle = angle

RFADDR = "00:18:91:D7:67:13"
client_socket=BtSocket( RFCOMM ) 
client_socket.connect((RFADDR, 1))  # 접속

try:
    while True:
        line = client_socket.readline()  # 동기 함수
        print(line)
        control(line.split(','))
except KeyboardInterrupt:
    print("Finished")

client_socket.close()