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小车综合玩法--5.画地为牢

article 2024/11/20 12:48:50

一、实验准备

前面我们利用四路巡线模块巡线，现在我们利用这个特性，用黑线将小车围起来，让小车一直在我们围的圈内运动。

1.小车接线已安装，且安装正确

2.调试四路巡线模块遇黑线时指示灯亮。不是黑线时指示灯灭。

二、实验原理

红外传感器巡线的基本原理是利用物体的反射性质，我们本次实验是巡白底黑线行驶，当红外线发射到黑线上时会被黑线吸收掉，发射到其他的颜色的材料上会有反射回到红外的接收管上。

通过四路巡线模块，我们让小车遇到黑色线就左转或者右转，只有全部都是白色的才可以直走。也可以把其想象为一种避障，障碍为黑线。

三、实验源码

import sys
import time

sys.path.append('/home/pi/project_demo/lib')
# 导入麦克纳姆小车驱动库 Import Mecanum Car Driver Library
from McLumk_Wheel_Sports import *

speed = 25#25

try:
    while True:
        # 从I2C读取巡线传感器数据 Read line sensor data from I2C
        track_data = bot.read_data_array(0x0a, 1)
        track = int(track_data[0])

        # 解析巡线传感器的状态 Analyze the status of the line patrol sensor
        x1 = (track >> 3) & 0x01  
        x2 = (track >> 2) & 0x01  
        x3 = (track >> 1) & 0x01  
        x4 = track & 0x01       
        """
        X2 X1 X3 X4
        |  |  |  |
        L1 L2 R1 R2
        """
        lineL1 = x2
        lineL2 = x1
        lineR1 = x3
        lineR2 = x4

        # 0000
        if not lineL1 and not lineL2 and not lineR1 and not lineR2:
            rotate_right(speed) 
            time.sleep(1)
        # 1X00
        elif lineL1 and not lineR1 and not lineR2:
            rotate_left(speed-10) 
            time.sleep(1)
        # 00X1
        elif not lineL1 and not lineL2 and lineR2:
            rotate_right(speed-10)
            time.sleep(1)
        # 10X1
        elif lineL1 and not lineL2 and lineR2:
            rotate_right(speed-10)
            time.sleep(1)
        # 1X01
        elif lineL1 and not lineR1 and lineR2:
            rotate_right(speed-10)
            time.sleep(1)    
        # 0110
        elif not lineL1 and lineL2 and lineR1 and not lineR2:
            rotate_right(speed-10)
            time.sleep(1)
        # 0111
        elif not lineL1 and lineL2 and lineR1 and lineR2:
            rotate_right(speed-20)
            time.sleep(1)
        # 1110
        elif lineL1 and lineL2 and lineR1 and not lineR2:
            rotate_left(speed-20)
            time.sleep(1)
        # 1111
        elif lineL1 and lineL2 and lineR1 and lineR2:
            move_forward(speed) 

        # 等待一段时间再进行下一次检测 Wait for a while before the next test
        time.sleep(0.01)

except KeyboardInterrupt:
    # 当用户中断程序时，确保所有电机停止 Ensure that all motors stop when the user interrupts the program
    stop_robot()
    print("Ending")
stop_robot()
# 清理资源 Cleaning up resources
del bot