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樹莓派3b+，超聲波測距模塊，手機（提供熱點），towerpro sg 5100電機三個，towerpro sg 90電機一個，杜邦線若干，面包板，電阻，四個五號電池連起來的電池盒兩個，五號電池八節，鋁板，亞克力板，螺絲螺帽若干，

（1）先配置樹莓派，開啟遠程連接，由于步驟過于簡單，在此省略，請參照2制作日志或登陸樹莓派實驗室之初級教程。

1定義：伺服馬達受不同長度的脈沖控制。基本上可以這樣理解，伺服電機接收到1個脈沖，就會旋轉1個脈沖對應的角度，從而實現位移。詳細定義請自行百度，

簡單概括為：樹莓派的管腳有兩種命名方式，分別為wpi和bcm碼，需要在代碼中說明，

源程序在附于最后，寫完后使用樹莓派連接，進入目標文件夾

<font style="font-size: 15pt">import RPi.GPIO as GPIO
import pigpio
import time
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
tilt = 4
br = 21
bl = 6
trig = 23
echo = 24
GPIO.setup(trig, GPIO.OUT)
GPIO.setup(echo, GPIO.IN)
pi = pigpio.pi()
def backward():
pi.set_servo_pulsewidth(tilt, 800)
time.sleep(0.15)
pi.set_servo_pulsewidth(bl, 800)
time.sleep(0.15)
pi.set_servo_pulsewidth(tilt, 2000)
time.sleep(0.15)
pi.set_servo_pulsewidth(br, 1800)
time.sleep(0.15)
pi.set_servo_pulsewidth(tilt, 1500)
time.sleep(0.15)
pi.set_servo_pulsewidth(bl, 1500)
time.sleep(0.15)
pi.set_servo_pulsewidth(br, 1500)
time.sleep(0.15)
return;
def forward():
pi.set_servo_pulsewidth(tilt, 800)
time.sleep(0.15)
pi.set_servo_pulsewidth(bl, 1800)
time.sleep(0.15)
pi.set_servo_pulsewidth(tilt, 2000)
time.sleep(0.15)
pi.set_servo_pulsewidth(br, 800)
time.sleep(0.15)
pi.set_servo_pulsewidth(tilt, 1500)
time.sleep(0.15)
pi.set_servo_pulsewidth(bl, 1500)
time.sleep(0.15)
pi.set_servo_pulsewidth(br, 1500)
time.sleep(0.15)
return;
def left():
pi.set_servo_pulsewidth(tilt, 800)
time.sleep(0.15)
pi.set_servo_pulsewidth(bl, 1800)
time.sleep(0.15)
pi.set_servo_pulsewidth(tilt, 2000)
time.sleep(0.15)
pi.set_servo_pulsewidth(br, 1800)
time.sleep(0.15)
pi.set_servo_pulsewidth(tilt, 1500)
time.sleep(0.15)
pi.set_servo_pulsewidth(bl, 1500)
time.sleep(0.15)
pi.set_servo_pulsewidth(br, 1500)
time.sleep(0.15)
return;
def right():
pi.set_servo_pulsewidth(tilt, 800)
time.sleep(0.15)
pi.set_servo_pulsewidth(bl, 800)
time.sleep(0.15)
pi.set_servo_pulsewidth(tilt, 2000)
time.sleep(0.15)
pi.set_servo_pulsewidth(br, 800)
time.sleep(0.15)
pi.set_servo_pulsewidth(tilt, 1500)
time.sleep(0.15)
pi.set_servo_pulsewidth(bl, 1500)
time.sleep(0.15)
pi.set_servo_pulsewidth(br, 1500)
time.sleep(0.15)
return;
def stop():
pi.set_servo_pulsewidth(tilt, 0)
time.sleep(0.15)
pi.set_servo_pulsewidth(bl, 0)
time.sleep(0.15)
pi.set_servo_pulsewidth(br, 0)
time.sleep(0.15)
return
def obstacleDetected():
backward()
backward()
backward()
backward()
backward()
right()
right()
right()
return
def turnHead():
pi.set_servo_pulsewidth(head, 700)
time.sleep(0.5)
pi.set_servo_pulsewidth(head, 2100)
time.sleep(0.5)
pi.set_servo_pulsewidth(head, 1500)
time.sleep(0.5)
return
def autoMode():
print ("Running in auto mode!")
turnHead()
time.sleep(0.5)
GPIO.output(trig, 0)
time.sleep(0.5)
GPIO.output(trig,1)
time.sleep(0.00001)
GPIO.output(trig,0)
while GPIO.input(echo) == 0:
pulse_start = time.time()
while GPIO.input(echo) == 1:
pulse_end = time.time()
pulse_duration = pulse_end - pulse_start
distance = pulse_duration * 17150
distance = round(distance, 2)
if distance > 1 and distance < 35:
obstacleDetected()
else:
forward()
forward()
forward()
pi.set_servo_pulsewidth(head, 2100)
time.sleep(0.5)
return
def manualMode():
move = str(sys.argv[2])
if move == "F" or move == "f":
print("Moving forward!")
forward()
elif move == "B" or move == "b":
print("Moving backward!")
backward()
elif move == "L" or move == "l":
print("Moving left!")
left()
elif move == "R" or move == "r":
print("Moving right!")
right()
else:
print("Invalid argument!")
return
def main():
opt = str(sys.argv[1])
if opt == "A" or opt == "a":
autoMode()
elif opt == "M" or opt == "m":
manualMode()
return
while True:
main()
GPIO.cleanup()
pi.stop()
</font>

復制代碼

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