树莓派智能小车红外避障实验指导书

1.下载代码

sudo python 红外避障实验.py

代码：

from LOBOROBOT import LOBOROBOT # 载入机器人库
from gpiozero import Button
from gpiozero import LED
from time import sleep
import sys clbrobot = LOBOROBOT() # 实例化机器人对象SensorRight = Button(16,pull_up=True)     # 右侧红外避障传感器
SensorLeft  =  Button(12,pull_up=True)    # 左侧红外避障传感器Btn  = Button(19,pull_up=True)   # 按键端口Gpin    = LED(5)   # 绿色LED灯接口
Rpin    = LED(6)   # 红色LED灯接口# 按键标志位
keyflag = 0# 按键控制函数
def keysacn():global keyflagprint('*****************************************') print('* makerobo Button Pressed!*') print('*****************************************')Rpin.on()  # 打开红色LEDGpin.off() # 关闭绿色LEDkeyflag = 1   # 按键标志位置1def released():print("button was released")Rpin.off()   # 关闭红色LEDGpin.on()    # 打开绿色LED# 按键中断函数
Btn.when_pressed = keysacn
Btn.when_released = releasedif __name__ == '__main__':try:while True:if keyflag == 1:      SR_2 =  SensorRight.value   SL_2 =  SensorLeft.value print("SensorRight=" +" " + str(SR_2))print("SensorLeft=" +" " + str(SL_2))if SL_2 == 0 and SR_2 == 0:       # 左右两侧都没有检测到障碍物print("t_up")clbrobot.t_up(50,0)elif SL_2 == 0 and SR_2 ==1:     # 右侧检测到障碍物print("Left")clbrobot.turnLeft(50,0)elif SL_2==1 and SR_2 ==0:      # 左侧检测到障碍物print("Right")clbrobot.turnRight(50,0)else:clbrobot.t_stop(0.3)clbrobot.t_down(50,0.4)clbrobot.turnLeft(50,0.5)except KeyboardInterrupt:  # 当按下Ctrl+C时，将执行子程序destroy()。clbrobot.t_stop(0)

实验结果：