树莓派智能小车python3程序

本文主要是介绍树莓派智能小车python3程序，对大家解决编程问题具有一定的参考价值，需要的程序猿们随着小编来一起学习吧！

一、小车器件

教程里是购买的淘宝上集成好的小车器件。另外自己也买了一些散件配置了一辆自己的小车。
https://detail.tmall.com/item.htm?id=608554421638&spm=a1z09.2.0.0.7e012e8d3NEMy0&_u=12kf16b6b4b
在这里插入图片描述

组件包括：
1、小车底板（2个）、电机（4个）、车轮（4个）、杜邦线、铜柱、螺丝若干
2、超声波传感器（1个） + 舵机（1个）
3、循迹传感器（3个）
4、避障传感器（2个，左右）
5、USB摄像头（1个） + 舵机（2个）
6、树莓派4B主控板（2G版本）（1个）
7、树莓派扩展板（1个）
8、电池（1个）
9、电压显示模块（1个）

我最终购买一套花了620元，如果按照散件购买，价格估算如下：
1、小车底板一套：35元
2、超声波+1个舵机+小部件：30元
3、循迹传感器：15元
4、避障传感器：5元
5、USB摄像头+2个舵机：50元
6、树莓派扩展板（2G版本）：320元
7、电池：20元
8、电压显示模块：5元
9、树莓派扩展板：140元
10、电子教程一套：0元

共计：620元。
也就是说这家店铺等于赚了一个卖散件和自家工厂做的扩展板的利润，没赚取集成费用。
建议最经济的做法买套餐B，树莓派不是什么USB摄像头都能兼容的，所以需要买个B套餐摄像头，对于C和D，完全没必要，其它的传感器完全可以以后买。另外如果还想省钱，可以买不带树莓派4B的主控板，买一块树莓派ZeroWH的主控板，可以省200元，用于小车实现性能足够了。
在这里插入图片描述

二、功能点代码

2.1、四轮电机驱动模块（主程序会调用）

2.1.1 原理

树莓派集成扩展板其实内部集成了两块L298N的电机驱动芯片，参考散件其工作原理如下：
在这里插入图片描述
简单点就是ENA和ENB是控制车轮速度，IN1、IN2是控制车轮状态（正转、反转、停止）。上图输出A和输出B是分别给车轮电机供电。

2.1.2 代码

#CarMotor.py
import RPi.GPIO as GPIO
import asyncio

class SingleMotor:
    def __init__(self, IN1, IN2, PWM=None):
        self.speed = 35
        self.freq  = 50
        self.run_state = "stop"

        self.PWM = PWM
        self.IN1 = IN1
        self.IN2 = IN2

        GPIO.setup(IN1, GPIO.OUT)
        GPIO.setup(IN2, GPIO.OUT)

        self.Motor = None
        if self.PWM != None:
            GPIO.setup(PWM, GPIO.OUT)
            self.Motor = GPIO.PWM(PWM, self.freq)
            self.Motor.start(0)
    
    #设置速度(0-100)
    def set_speed(self, speed):
        if self.Motor == None: 
            return

        if speed > 100: 
            self.speed = 100
        elif speed < 0: 
            self.speed = 0
        else:
            self.speed = speed
        self.Motor.ChangeDutyCycle(self.speed)

    def get_speed(self):
        return self.speed

    def inc_speed(self, v):
        self.set_speed(self.speed + v)

    def dec_speed(self, v):
        self.set_speed(self.speed - v)

    def get_run_state(self):
        return self.run_state

    #正转
    def up(self):
        self.run_state = "up"
        GPIO.output(self.IN1, GPIO.HIGH)
        GPIO.output(self.IN2, GPIO.LOW)

    #反转
    def down(self):
        self.run_state = "down"
        GPIO.output(self.IN1, GPIO.LOW)
        GPIO.output(self.IN2, GPIO.HIGH)

    #停止
    def stop(self):
        self.run_state = "stop"
        GPIO.output(self.IN1, GPIO.LOW)
        GPIO.output(self.IN2, GPIO.LOW)

class CarWheel:
    def __init__(self, L_Motor, R_Motor):
        self.L_Wheel = L_Motor
        self.R_Wheel = R_Motor

        self.speed = 35
        self.set_speed(self.speed)

        self.run_state = "stop"

    def set_speed(self, speed):
        if speed > 100: 
            self.speed = 100
        elif speed < 0: 
            self.speed = 0
        else:
            self.speed = speed

        self.L_Wheel.set_speed(self.speed)
        self.R_Wheel.set_speed(self.speed)
        
    def get_speed(self):
        return self.speed

    def inc_speed(self, v):
        self.L_Wheel.inc_speed(v)
        self.R_Wheel.inc_speed(v)
        self.speed = self.L_Wheel.get_speed()
        
    def dec_speed(self, v):
        self.L_Wheel.dec_speed(v)
        self.R_Wheel.dec_speed(v)
        self.speed = self.L_Wheel.get_speed()

    def get_run_state(self):
        return self.run_state

    def up(self):
        self.run_state = "up"
        self.L_Wheel.up()
        self.R_Wheel.up()

    def stop(self):
        self.run_state = "stop"
        self.L_Wheel.stop()
        self.R_Wheel.stop()
        
    def down(self):
        self.run_state = "down"
        self.L_Wheel.down()
        self.R_Wheel.down()
	
	#小车左转，控制左轮不动，右轮前进即可
    def left(self):
        self.run_state = "left"
        self.L_Wheel.stop()
        self.R_Wheel.up()

	#小车右转，控制右轮不动，左轮前进即可
    def right(self):
        self.run_state = "right"
        self.L_Wheel.up()
        self.R_Wheel.stop()

async def motor_task():
    L_Motor = SingleMotor(
        PWM   = 18,
        IN1   = 22,
        IN2   = 27
        )

    R_Motor = SingleMotor(
        PWM   = 23,
        IN1   = 25,
        IN2   = 24
        )

    cm = CarWheel(
        L_Motor = L_Motor,
        R_Motor = R_Motor
        )

    t_time = 2

    cm.inc_speed(5)
    cm.up()
    await asyncio.sleep(t_time)

    cm.dec_speed(5)
    cm.down()
    await asyncio.sleep(t_time)

    cm.left()
    await asyncio.sleep(t_time)

    cm.right()
    await asyncio.sleep(t_time)

    cm.stop()
    await asyncio.sleep(t_time)

async def main():
    dltasks = set()
    dltasks.add(asyncio.ensure_future(motor_task()))
    dones, dltasks = await asyncio.wait(dltasks)
    for task in dones:
        print("Task ret: ", task.result())

if __name__ == '__main__':
    GPIO.setwarnings(False) 
    GPIO.setmode(GPIO.BCM)

    loop = asyncio.get_event_loop()
    loop.run_until_complete(main())
    try:
        loop.run_forever()
    except KeyboardInterrupt:
        pass
    finally:
        GPIO.cleanup()

2.2、超声波例子

#https://gpiozero.readthedocs.io/en/stable/recipes.html#distance-sensor
#DistanceSensor_t.py
from gpiozero import DistanceSensor
from time import sleep
sensor = DistanceSensor(23, 24)
while True:
    print('Distance to nearest object is', sensor.distance, 'm')
    sleep(1)

2.3、2.4G无线手柄控制例子

#joystick_t.py
import asyncio
import pygame
from pygame.locals import *

async def joystick_task(self):
    #JOYAXISMOTION joy, axis, value
    #JOYBALLMOTION joy, ball, rel
    #JOYHATMOTION joy, hat, value
    #JOYBUTTONUP joy, button
    #JOYBUTTONDOWN joy, button
    while True:
        for event in pygame.event.get():
#        if event.type == pygame.JOYAXISMOTION:
#            print("Joystick JOYAXISMOTION.")

#        if event.type == pygame.JOYBALLMOTION:
#            print("Joystick JOYBALLMOTION.")

            if event.type == pygame.JOYHATMOTION:
#               print("Joystick JOYHATMOTION.")
                if event.value == (-1, 0):
                    print('left')
                elif event.value == (0, 1):
                    print('up')
                elif event.value == (0, -1):
                    print('down')
                elif event.value == (1, 0):
                    print('right')
                elif event.value == (0, 0):
                    print('stop')
                else:
                    print(event.value)
            elif event.type == pygame.JOYBUTTONDOWN:            
                print("Joystick JOYBUTTONDOWN.")
                if joystick.get_button(0) == 1:
                    print('button[Y]')
                elif joystick.get_button(1) == 1:
                    print('button[B]')
                elif joystick.get_button(2) == 1:
                    print('button[A]')
                elif joystick.get_button(3) == 1:
                    print('button[X]')
                else:
                    pass
            elif event.type == pygame.JOYBUTTONUP:
                print("Joystick JOYBUTTONUP.")
            else:
                pass

        await asyncio.sleep(0.1)

async def main():
    pygame.init()
    pygame.joystick.init()
    # Get count of joysticks
    joystick_count = pygame.joystick.get_count() 
    print("Number of joysticks: {0}".format(joystick_count))
    joystick0 = pygame.joystick.Joystick(0)
    joystick.init()
    
    dltasks = set()
    dltasks.add(asyncio.ensure_future(joystick_task()))
    dones, dltasks = await asyncio.wait(dltasks)
    for task in dones:
        print("Task ret: ", task.result())

if __name__ == '__main__':
    loop = asyncio.get_event_loop()
    loop.run_until_complete(main())
    try:
        loop.run_forever()
    except KeyboardInterrupt:
        pass
    finally:
        pygame.quit()

2.4、网络服务

	#见主程序

2.5、舵机模块（主程序会调用）

#CarServo.py
import Adafruit_PCA9685
import RPi.GPIO as GPIO
import time

class CarServo:
    def __init__(self):
        #2个摄像头舵机,1个超声波舵机
        self.pwm_pca9685 = Adafruit_PCA9685.PCA9685()
        self.pwm_pca9685.set_pwm_freq(50)
        
        self.servo = {}
        
        self.set_servo_angle(0, 110)
        self.set_servo_angle(1, 100)
        self.set_servo_angle(2, 20)

    #输入角度转换成12^精度的数值
    def set_servo_angle(self, channel, angle):
        if (channel >= 0) and (channel <= 2):
            new_angle = angle
            if angle < 0:
                new_angle = 0
            elif angle > 180:
                new_angle = 180
            else:
                new_angle = angle

            print("channel={0}, angle={1}".format(channel, new_angle))
            #date=4096*((new_angle*11)+500)/20000#进行四舍五入运算 date=int(4096*((angle*11)+500)/(20000)+0.5)
            date = int(4096*((new_angle*11)+500)/(20000)+0.5) 
            self.pwm_pca9685.set_pwm(channel, 0, date)
            self.servo[channel] = new_angle
        else:
            print("set_servo_angle error. servo[{0}] = [{1}]".format(channel, angle))
            
    def inc_servo_angle(self, channel, v):
        self.set_servo_angle(channel, self.servo[channel] + v)

    def dec_servo_angle(self, channel, v):
        self.set_servo_angle(channel, self.servo[channel] - v)

if __name__ == '__main__':
    GPIO.setwarnings(False) 
    GPIO.setmode(GPIO.BCM)

    cs = CarServo()
    cs.inc_servo_angle(0, 10)
    cs.inc_servo_angle(1, 10)
    cs.inc_servo_angle(2, 10)
    
    time.sleep(2)
    
    cs.dec_servo_angle(0, 10)
    cs.dec_servo_angle(1, 10)
    cs.dec_servo_angle(2, 10)

    time.sleep(2)
    GPIO.cleanup()

2.6、USB摄像头例子

	#见主程序

2.7、红外避障例子

import RPi.GPIO as GPIO
import time
 
pin_avoid_obstacle=18
GPIO.setmode(GPIO.BCM)
GPIO.setup(pin_avoid_obstacle, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
try:
    while True:
        status = GPIO.input(pin_avoid_obstacle)
        if status == TRUE:
            print('我是红外避障模组，没有检测到障碍物，一切正常！')
        else:
            print('我是红外避障模组，检测到障碍物，注意停车')
        time.sleep(0.5)
except KeyboradInterrupt:
	pass
finally:
    GPIO.cleanup()

2.8、循迹模块例子

	#家里地下暂时不想贴黑线，所有没写这块代码

三、小车完整代码

#ppycar.py
#!/usr/bin/python3
# -*- coding: utf-8 -*-
import asyncio
import aiohttp
import websockets
import json
import time
import logging
import threading
import sys
import cv2
from aiohttp import web
from concurrent.futures import ThreadPoolExecutor
import RPi.GPIO as GPIO
import pygame
from pygame.locals import *
from CarMotor import CarWheel, SingleMotor
from gpiozero import DistanceSensor
#from CarDistance import CarDistance 
from CarServo import CarServo 

class CwCar:
    def __init__(self):
        #左边前轮和后轮(电路确保行动一致)
        L_Motor = SingleMotor(
            PWM   = 18,
            IN1   = 22,
            IN2   = 27
            )
        #右边前轮和后轮(电路确保行动一致)
        R_Motor = SingleMotor(
            PWM   = 23,
            IN1   = 25,
            IN2   = 24
            )

        #小车
        self.cm = CarWheel(
            L_Motor = L_Motor,
            R_Motor = R_Motor
            )

        #超声波测距
        #self.cd = CarDistance(
        #    GPIO_TRIGGER = 20,
        #    GPIO_ECHO    = 21
        #    )
        self.sensor = DistanceSensor(21, 20)
        
        #2个摄像头舵机,1个超声波舵机
        self.cs = CarServo()

        #线程池,用于封装非协程对象
        self.__executor = ThreadPoolExecutor(10)
        self.__loop = asyncio.get_event_loop()

        self.cap = cv2.VideoCapture(0)
        self.jpg_bytes = None

    #非协程对象的阻塞函数调用封装
    async def ThreadRun(self, func, *args,**kwargs):
        return await self.__loop.run_in_executor(self.__executor, func, *args,**kwargs)

    #定期更新超声波所测的障碍物距离
    async def distance_task(self, update_time):
        print("distance_task start")
        while True:
            dist_float = self.sensor.distance
            dist = int(dist_float * 100)
            #当距离不到40cm的时候且运行状态为前进，则小车停止运行
            if  (dist < 80) and (self.cm.get_run_state() == 'up'):
                self.cm.stop()
            await asyncio.sleep(update_time)

        print("distance_task end")

    #手柄指令控制小车运行
    async def joystick_task(self):
        joystick = pygame.joystick.Joystick(0)
        joystick.init()
        
        while True:
            for event in pygame.event.get():
                #手柄左边的上下左右键，控制小车运行
                if event.type == pygame.JOYHATMOTION:
                    if event.value == (-1, 0):
                        print('left')
                        self.cm.left()
                    elif event.value == (0, 1):
                        print('up')
                        dist_float = self.sensor.distance
                        dist = int(dist_float * 100)
                        if dist > 80:
                            self.cm.up()
                    elif event.value == (0, -1):
                        print('down')
                        self.cm.down()
                    elif event.value == (1, 0):
                        print('right')
                        self.cm.right()
                    elif event.value == (0, 0):
                        print('stop')
                        self.cm.stop()
                    else:
                        print(event.value)

                #控制小车速度
                elif event.type == pygame.JOYBUTTONDOWN: 
                    print("Joystick JOYBUTTONDOWN.")
                    if joystick.get_button(0) == 1:
                        print('button[Y]')
                    elif joystick.get_button(1) == 1:
                        print('button[B]')
                        self.cm.inc_speed(5)
                    elif joystick.get_button(2) == 1:
                        print('button[A]')
                    elif joystick.get_button(3) == 1:
                        print('button[X]')
                        self.cm.dec_speed(5)
                    #控制摄像头舵机
                    elif joystick.get_button(4) == 1:
                        print('button[4]')
                        self.cs.inc_servo_angle(1, 5)
                    elif joystick.get_button(5) == 1:
                        print('button[5]')
                        self.cs.dec_servo_angle(1, 5)
                    elif joystick.get_button(6) == 1:
                        print('button[6]')
                        self.cs.inc_servo_angle(2, 5)
                    elif joystick.get_button(7) == 1:
                        print('button[7]')
                        self.cs.dec_servo_angle(2, 5)
                    else:
                        pass

            await asyncio.sleep(0.1)

    #接收远程网页上发送的小车控制指令
    async def car_recv_msg(self, ws, msg):
        response_ojb  = {
            "cmd" : "None",
            "ret" : 0,
            "errinfo": ""
            } 

        try:
            recv_text = msg.data
            recv_json_obj = json.loads(recv_text)
            print(recv_json_obj)

            cmd = recv_json_obj['cmd']
            response_ojb['cmd'] = cmd
            
            print("cmd = {0}".format(cmd))

            if cmd == "stop":
                self.cm.stop()
            
            elif cmd == "up":
                dist = int(await self.ThreadRun(self.cd.distance))
                if dist > 80:
                    self.cm.up()

            elif cmd == "down":
                self.cm.down()
            
            elif cmd == "left":
                self.cm.left()
                
            elif cmd == "right":
                self.cm.right()

            elif cmd == "inc":
                self.cm.inc_speed(5)
                speed = self.cm.get_speed()
                response_ojb["speed"] = speed
    
            elif cmd == "dec":
                self.cm.dec_speed(5)
                speed = self.cm.get_speed()
                response_ojb["speed"] = speed

            else:
                print("cmd error")
        except Exception as e:
            print("recv json error:{0}:{1}:{2}" .format(
                e.__traceback__.tb_frame.f_globals["__file__"], 
                e.__traceback__.tb_lineno,
                e))
            response_ojb["ret"] = 1
            response_ojb["errorinfo"] = "recv json error"
    
        response_json = json.dumps(response_ojb)
        await ws.send_str(response_json)

    #websocket接收消息协议解析
    async def websocket_car_handler(self, request):
        print('websocket_car_handler start...')
        ws = web.WebSocketResponse()
        await ws.prepare(request)
        while not ws.closed:
            msg = await ws.receive()
            if msg.type == aiohttp.WSMsgType.text:
                await self.car_recv_msg(ws, msg)
            elif msg.type == aiohttp.WSMsgType.close:
                print('websocket connection closed')
            elif msg.type == aiohttp.WSMsgType.error:
                print('ws connection closed with exception {0}'.format(ws.exception()))
            else:
                await ws.send_str('websocket_car_handler')
        return ws
    
    #返回摄像头图像数据给请求网页
    async def websocket_webcam_handler(self, request):
        print('websocket_webcam_handler start...')
        ws = web.WebSocketResponse()
        await ws.prepare(request)
        while not ws.closed:
            msg = await ws.receive()
            if msg.type == aiohttp.WSMsgType.text:
                print(msg.data, end='')
                if self.jpg_bytes != None:
                    await ws.send_bytes(self.jpg_bytes)
            elif msg.type == aiohttp.WSMsgType.close:
                print('websocket connection closed')
            elif msg.type == aiohttp.WSMsgType.error:
                print('ws connection closed with exception {0}'.format(ws.exception()))
            else:
                await ws.send_str('websocket_webcam_handler')
        return ws

    #定时采集摄像头图像数据
    async def webcam_read_task(self):
        print("{0}:{1}".format("webcam_read_task", "start"))
        encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 50]
        while True:
            await self.ThreadRun(self.__webcam_read, encode_param)
            await asyncio.sleep(0.05)
        print("{0}:{1}".format("webcam_read_task", "end"))
    
    #摄像头图像数据采集
    def __webcam_read(self, encode_param):
        ret, frame = self.cap.read()
        ret, jpg = cv2.imencode('.jpg', frame, encode_param)
        self.jpg_bytes = jpg.tobytes()

async def main(main_loop):
    cc = CwCar()
    local_ip   = '0.0.0.0'
    local_port = 5678

    app = web.Application()
    app.router.add_route('GET', '/ppycar', cc.websocket_car_handler)
    app.router.add_route('GET', '/sendframe', cc.websocket_webcam_handler)
    app.router.add_static('/static', path='webroot', show_index=True)

    runner = web.AppRunner(app)
    await runner.setup()
    site = web.TCPSite(runner,  local_ip, local_port)
    print("MainLoop:Server started at http://{0}...:{1}".format(local_ip, local_port))

    dltasks = set()
    dltasks.add(asyncio.ensure_future(cc.joystick_task()))                  #手柄控制
    dltasks.add(asyncio.ensure_future(site.start()))                        #websockets网页控制
    dltasks.add(asyncio.ensure_future(cc.webcam_read_task()))               #定时摄像头图像数据采集
    dltasks.add(asyncio.ensure_future(cc.distance_task(update_time = 0.05)))#定时超声波测距
    dones, dltasks = await asyncio.wait(dltasks)
    for task in dones:
        print("Main Task ret: ", task.result())

if __name__ == '__main__':
    pygame.init()
    pygame.joystick.init()
    joystick_count = pygame.joystick.get_count() 
    print("Number of joysticks: {0}".format(joystick_count))
    #确保有且只有一个手柄控制
    if joystick_count != 1:
        print("joystick_count < 1, sys.exit.")
        GPIO.cleanup()
        pygame.quit()
        sys.exit()

    GPIO.setwarnings(False) 
    GPIO.setmode(GPIO.BCM)

    main_loop = asyncio.get_event_loop()
    main_loop.run_until_complete(main(main_loop))
    try:
        main_loop.run_forever()
    except KeyboardInterrupt:
        pass
    finally:
        GPIO.cleanup()
        pygame.quit()

四、网页控制完整代码

ppy_car_web.html

<!DOCTYPE html>
<html lang="zh-cmn-Hans">
<head>
    <meta charset="UTF-8">
    <meta name="viewport" content="width=device-width,initial-scale=1,user-scalable=0,viewport-fit=cover">
    <title>小车远程控制</title>
    <link rel="stylesheet" href="https://res.wx.qq.com/open/libs/weui/2.4.4/weui.css"/>
	<script type="text/javascript">
         let ws;
		 let wsurl = "ws://" + window.location.hostname + ":5678/ppycar"
		 //let wsurl = "ws://192.168.3.128:5678/ppycar"
		 let speed = 35;
		 
         function car_cmd(car_cmd_json){
			let jsonText = JSON.stringify(car_cmd_json);
			console.log(jsonText);
			if (ws.readyState == 1){
				ws.send(jsonText);
			}else{
				console.log("ws.readyState = " + ws.readyState)
			}
		 }

         function car_speed(cmd){
			car_cmd({cmd: cmd})
		 }

         function car_move(cmd){
			car_cmd({cmd: cmd})
		 }

         function car_distance(){
			car_cmd({cmd: 'distance'})
		 }
 
		 function ws_conn(){
            ws = new WebSocket(wsurl);
            console.log("ws_conn.");
            ws.onopen = function()
            {
               console.log("do_ws_open.");
            };

            ws.onmessage = function (evt) 
            { 
               let received_msg = evt.data;
               console.log("recv info:" + received_msg); 
               let obj = JSON.parse(received_msg)
			   if((obj.cmd == 'inc') || (obj.cmd == 'dec')){
					document.getElementById("car_speed").innerHTML = obj.speed + "(区间：0-100)";
			   }
            };
            ws.onclose = function()
            { 
               console.log("ws close."); 
            };
         }

		 function ws_close(){
			console.log("do_ws_close.");
			ws.close();
		 }
      </script>
	  
	  <script>
		let webcam_wsurl = "ws://" + window.location.hostname + ":5678/sendframe"
		let socket = new WebSocket(webcam_wsurl);
		let img = new Image();

		function sendMsg() {
			socket.send("update");
			console.log("socket: send update");
		}
		
		function Uint8ToString(u8a) {
			var CHUNK_SZ = 0x8000;
			var c = [];
			for (var i = 0; i < u8a.length; i += CHUNK_SZ) {
			c.push(String.fromCharCode(...u8a.subarray(i, i + CHUNK_SZ)));
			}
			return c.join("");
		}
		
		function drawFrame(frame) {
			var uint8Arr = new Uint8Array(frame);
			var str = Uint8ToString(uint8Arr);
			var base64String = btoa(str);

			img.onload = function () {
				context.drawImage(this, 0, 0, canvas.width, canvas.height);
			};
			img.src = "data:image/png;base64," + base64String;
		}

		socket.onopen = () => {
			console.log("socket: connected");
		};
		
		socket.onmessage = (msg) => {
			msg.data.arrayBuffer().then((buffer) => {
			drawFrame(buffer);
			console.log("socket: frame updated");
			});
		};
    </script>

</head>
<body onl oad="ws_conn();">
<div class="page">
  <div class="weui-form">
    <div class="weui-form__text-area">
      <h2 class="weui-form__title">小车远程控制</h2>
    </div>
    <div class="weui-cells weui-cells_form">
		<div class="weui-cell">
            <div class="weui-cell__bd">
			</div>
            <div class="weui-cell__bd">
				<button class="weui-btn weui-btn_primary" onclick="car_move('up');"  id="car_up">前进</button>
			</div>
            <div class="weui-cell__bd">
			</div>
		</div>
		<div class="weui-cell">
            <div class="weui-cell__bd">
				<button class="weui-btn weui-btn_primary" onclick="car_move('left');" id="car_left">左转</button>
			</div>
			<div class="weui-cell__bd">
				<button class="weui-btn weui-btn_primary" onclick="car_move('down');" id="car_down">后退</button>
			</div>
			<div class="weui-cell__bd">
				<button class="weui-btn weui-btn_primary" onclick="car_move('right');" id="car_right">右转</button>
			</div>
		</div>
		<div class="weui-cell">
			<div class="weui-cell__bd">
				<button class="weui-btn weui-btn_primary" onclick="car_speed('dec');" id="speed_dec">减速</button>
			</div>
			<div class="weui-cell__bd">
				<button class="weui-btn weui-btn_primary" onclick="car_speed('inc');" id="speed_inc">加速</button>
			</div>
			<div class="weui-cell__bd">
				<button class="weui-btn weui-btn_primary" onclick="car_move('stop');" id="cat_stop">停止</button>
			</div>
		</div>
    </div>
    <div class="weui-form__text-area">
      <h2 class="weui-form__title">小车数据采集</h2>
    </div>
    <div class="weui-cells">
        <div class="weui-cell  weui-cell_example">
                <div class="weui-cell__hd"><i class="weui-icon-waiting weui-icon_msg"></i></div>
                <div class="weui-cell__bd">
                    <p>小车速度</p>
                </div>
                <div class="weui-cell__ft" id="car_speed">35（0-100）</div>
        </div>
        <div class="weui-cell  weui-cell_example">
                <div class="weui-cell__hd"><i class="weui-icon-waiting weui-icon_msg"></i></div>
                <div class="weui-cell__bd">
                    <p>超声波距离</p>
                </div>
                <div class="weui-cell__ft">0（毫米）</div>
	</div>
    </div>
    <div class="weui-form__text-area">
      <h2 class="weui-form__title">小车摄像头</h2>
    </div>
    <div class="weui-cells" align="center">
	   <canvas id="canvas-video" width="512" height="384"></canvas>
	</div>
    <script>
      const canvas = document.getElementById("canvas-video");
      const context = canvas.getContext("2d");

      // show loading notice
      context.fillStyle = "#333";
      context.fillText("Loading...", canvas.width / 2 - 30, canvas.height / 3);

      setInterval(() => {
        socket.send("x");
      }, 100);
    </script>
  </div>
</div>
</body>
</html>

这篇关于树莓派智能小车python3程序的文章就介绍到这儿，希望我们推荐的文章对大家有所帮助，也希望大家多多支持为之网！

Python教程

树莓派智能小车python3程序

一、小车器件

二、功能点代码

2.1、四轮电机驱动模块（主程序会调用）

2.1.1 原理

2.1.2 代码

2.2、超声波例子

2.3、2.4G无线手柄控制例子

2.4、网络服务

2.5、舵机模块（主程序会调用）

2.6、USB摄像头例子

2.7、红外避障例子

2.8、循迹模块例子

三、小车完整代码

四、网页控制完整代码

前端开发

后端开发

移动端开发

数据库

服务器运维

人工智能

区块链

游戏开发

网站运营

大数据/云计算

软件工程

软件/开发工具使用

资讯