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duducar.py
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duducar.py
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import utime
from wheel import Wheel
from supersonic import SuperSonicDistance
from servo import Servo
class DuduCar:
def __init__(self, distance_threshold):
self.SUPER_SONIC_TRIG_WAIT_TIME_MS = 80
self.SERVO_ROTATED_DELAY_MS = 250 #给舵机时间转动到位（假设每次探测旋转不超过45度）（按0.22秒/60度计算）
self.distance_threshold = distance_threshold
self.TIMER0 = 0
self.TIMER1 = 1
self.TIMER2 = 2
self.CHANNEL0 = 0
self.CHANNEL1 = 1
self.CHANNEL2 = 2
self.CHANNEL3 = 3
self.LEVEL1 = 2
self.LEVEL2 = 3
self.LEVEL3 = 4
self.LEVEL4 = 5
self.LEVEL5 = 6
self.DEFAULT_LEVEL = self.LEVEL1
self.DEFAULT_FORWARD_LEVEL = self.LEVEL1
self.DEFAULT_BACKWARD_LEVEL = self.LEVEL1
self.left_front = Wheel(19, 20, self.TIMER0, self.CHANNEL0, self.TIMER0, self.CHANNEL1) # 左前轮
self.right_front = Wheel(33, 34, self.TIMER1, self.CHANNEL0, self.TIMER1, self.CHANNEL1) # 前右轮
self.right_back = Wheel(35, 30, self.TIMER2, self.CHANNEL2, self.TIMER2, self.CHANNEL3) # 后右轮
self.left_back = Wheel(15, 17, self.TIMER0, self.CHANNEL2, self.TIMER0, self.CHANNEL3) # 左后轮
self.TRIG_PIN = 27 # 超声波trig
self.ECHO_PIN = 29 # 超声波echo
self.supersonic = SuperSonicDistance(self.TRIG_PIN, self.ECHO_PIN)
self.SERVO_PIN = 9 #舵机信号
self.servo = Servo(self.TIMER2, self.CHANNEL1, self.SERVO_PIN)
def forward(self):
self.left_front.forward(self.DEFAULT_FORWARD_LEVEL)
self.left_back.forward(self.DEFAULT_FORWARD_LEVEL)
self.right_front.forward(self.DEFAULT_FORWARD_LEVEL*1.2)
self.right_back.forward(self.DEFAULT_FORWARD_LEVEL*1.2)
def back(self):
self.left_front.back(self.DEFAULT_BACKWARD_LEVEL)
self.left_back.back(self.DEFAULT_BACKWARD_LEVEL)
self.right_back.back(self.DEFAULT_BACKWARD_LEVEL*1.2)
self.right_front.back(self.DEFAULT_BACKWARD_LEVEL*1.2)
# 右方侧移
def right(self):
self.right_front.back(self.DEFAULT_LEVEL)
self.left_front.forward(self.DEFAULT_LEVEL)
self.left_back.back(self.DEFAULT_LEVEL)
self.right_back.forward(self.DEFAULT_LEVEL)
# 左方侧移
def left(self):
self.left_front.back(self.DEFAULT_LEVEL)
self.left_back.forward(self.DEFAULT_LEVEL)
self.right_front.forward(self.DEFAULT_LEVEL)
self.right_back.back(self.DEFAULT_LEVEL)
# 左前方拐弯
def front_left(self):
self.left_front.stop()
self.left_back.forward(self.DEFAULT_FORWARD_LEVEL)
self.right_front.forward(self.DEFAULT_FORWARD_LEVEL)
self.right_back.forward(self.DEFAULT_FORWARD_LEVEL)
# 右前方拐弯
def front_right(self):
self.right_front.stop()
self.left_front.forward(self.DEFAULT_FORWARD_LEVEL)
self.left_back.forward(self.DEFAULT_FORWARD_LEVEL)
self.right_back.forward(self.DEFAULT_FORWARD_LEVEL)
def breakcar(self):
self.left_front.break_car()
self.left_back.break_car()
self.right_front.break_car()
self.right_back.break_car()
def stop(self):
self.left_front.stop()
self.left_back.stop()
self.right_front.stop()
self.right_back.stop()
def obstacle_distance(self):
self.servo.rotate(0)
# 探测N次，取最小距离（作为障碍物距离）
distances_in_this_degree = []
for detection_degree in (-10, 0, 0, 10):
self.servo.rotate(detection_degree)
utime.sleep_ms(self.SERVO_ROTATED_DELAY_MS)
self.supersonic.start()
utime.sleep_ms(self.SUPER_SONIC_TRIG_WAIT_TIME_MS)
distance_mm = self.supersonic.get_distance_mm()
distances_in_this_degree.append(distance_mm)
#
most_short_one = min(distances_in_this_degree)
#
print("distances_in_this_degree:", distances_in_this_degree, " most_short_one: ", most_short_one)
self.servo.rotate(0)
return most_short_one
def radar_init(self):
self.servo.rotate(0)
# 雷达扫描，获取最佳前进角度
# return 最佳前进角度
def radar_scan(self):
# 5个方向的障碍物距离
scan_results = {'-90': 0, '-45': 0, '0': 0, '45': 0, '90': 0}
#分别扫描5个方向
self.servo.rotate(0) #舵机返回0度位置-正前方
for degree in (-90, -45, 0, 45, 90):
self.servo.rotate(degree)
utime.sleep_ms(self.SERVO_ROTATED_DELAY_MS)
# 每个方向探测2次，取最大长度
distances_in_this_degree = []
for i in (0, 1):
self.supersonic.start()
utime.sleep_ms(self.SUPER_SONIC_TRIG_WAIT_TIME_MS)
distance_mm = self.supersonic.get_distance_mm()
print("degree:", degree, " count:", i, " distance is ", distance_mm, "mm")
distances_in_this_degree.append(distance_mm)
#
scan_results[str(degree)] = max(distances_in_this_degree)
self.servo.rotate(0) #舵机返回0度位置-正前方
# 取距离最长的方向。先过滤距离超过{self.distance_threshold}的方向，并取其最大值所在方向作为最终目标方向
# 分三个方向。左（-90， -45）；前（0度）；右（45， 90）
print('scan_results', scan_results)
filtered_scan_results = {'left':0, 'forward':0, 'right':0}
filtered_scan_results['left'] = max(scan_results['-90'], scan_results['-45'])
filtered_scan_results['forward'] = scan_results['0']
filtered_scan_results['right'] = max(scan_results['45'], scan_results['90'])
print('filtered_scan_results', filtered_scan_results)
the_most_long_distance = 0
the_most_long_distance_direction = 'unknown'
for direction in filtered_scan_results:
distance = filtered_scan_results[direction]
if distance > the_most_long_distance:
the_most_long_distance = distance
the_most_long_distance_direction = direction
print("the_most_long_distance_direction:", the_most_long_distance_direction)
# 返回距离最长的方向的角度
return the_most_long_distance_direction
if __name__ == '__main__':
OBSTACLE_WARNING_DISTANCE = 500 #毫米
duduCar = DuduCar(OBSTACLE_WARNING_DISTANCE)
duduCar.radar_scan()
#duduCar.obstacle_distance()
#duduCar.forward()
#utime.sleep(10)
#duduCar.stop()
#for i in range(2):
#if duduCar.obstacle_distance() < 300:
## 停车观察
#duduCar.stop()
#optimal_angle = duduCar.radar_scan()
#if optimal_angle < 0:
## 左拐
#duduCar.front_left()
#print('left')
#elif optimal_angle > 0:
## 右拐
#duduCar.front_right()
#print('right')
#else:
#duduCar.forward()
#print('forward')
#utime.sleep_ms(1000)