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116 lines
3.4 KiB
116 lines
3.4 KiB
1 month ago
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import RPi.GPIO as GPIO
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import time
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import keyboard
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# Настройка пинов
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GPIO.setmode(GPIO.BCM)
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# Пины для управления моторами
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IN1 = 17
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IN2 = 27
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IN3 = 22
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IN4 = 23
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# Пины для управления скоростью (PWM)
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ENA = 18
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ENB = 19
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# Настройка пинов как выходов
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GPIO.setup(IN1, GPIO.OUT)
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GPIO.setup(IN2, GPIO.OUT)
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GPIO.setup(IN3, GPIO.OUT)
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GPIO.setup(IN4, GPIO.OUT)
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GPIO.setup(ENA, GPIO.OUT)
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GPIO.setup(ENB, GPIO.OUT)
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# Создание ШИМ (PWM) на пинах ENA и ENB с частотой 1000 Гц
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pwm_a = GPIO.PWM(ENA, 1000)
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pwm_b = GPIO.PWM(ENB, 1000)
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# Старт ШИМ с нулевой скоростью (0% скважности)
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pwm_a.start(0)
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pwm_b.start(0)
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# Функции управления
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def move_forward(speed):
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GPIO.output(IN1, GPIO.HIGH)
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GPIO.output(IN2, GPIO.LOW)
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GPIO.output(IN3, GPIO.HIGH)
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GPIO.output(IN4, GPIO.LOW)
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pwm_a.ChangeDutyCycle(speed)
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pwm_b.ChangeDutyCycle(speed)
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print(f"Moving forward at speed {speed}")
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def move_backward(speed):
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GPIO.output(IN1, GPIO.LOW)
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GPIO.output(IN2, GPIO.HIGH)
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GPIO.output(IN3, GPIO.LOW)
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GPIO.output(IN4, GPIO.HIGH)
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pwm_a.ChangeDutyCycle(speed)
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pwm_b.ChangeDutyCycle(speed)
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print(f"Moving backward at speed {speed}")
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def move_left(speed):
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GPIO.output(IN1, GPIO.LOW)
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GPIO.output(IN2, GPIO.HIGH)
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GPIO.output(IN3, GPIO.HIGH)
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GPIO.output(IN4, GPIO.LOW)
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pwm_a.ChangeDutyCycle(speed)
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pwm_b.ChangeDutyCycle(speed)
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print(f"Turning left at speed {speed}")
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def move_right(speed):
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GPIO.output(IN1, GPIO.HIGH)
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GPIO.output(IN2, GPIO.LOW)
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GPIO.output(IN3, GPIO.LOW)
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GPIO.output(IN4, GPIO.HIGH)
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pwm_a.ChangeDutyCycle(speed)
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pwm_b.ChangeDutyCycle(speed)
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print(f"Turning right at speed {speed}")
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def stop():
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GPIO.output(IN1, GPIO.LOW)
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GPIO.output(IN2, GPIO.LOW)
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GPIO.output(IN3, GPIO.LOW)
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GPIO.output(IN4, GPIO.LOW)
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pwm_a.ChangeDutyCycle(0)
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pwm_b.ChangeDutyCycle(0)
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print("Stopped")
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try:
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speed = 50 # Начальная скорость (50% ШИМ)
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print("Use W/A/S/D to move and adjust speed, release key to stop")
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while True:
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# Проверка нажатия клавиш для движения
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if keyboard.is_pressed('w'):
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move_forward(speed)
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elif keyboard.is_pressed('s'):
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move_backward(speed)
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elif keyboard.is_pressed('a'):
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move_left(speed)
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elif keyboard.is_pressed('d'):
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move_right(speed)
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else:
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# Если ни одна из клавиш не нажата, остановить моторы
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stop()
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# Регулировка скорости
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if keyboard.is_pressed('q'): # Уменьшение скорости
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speed = max(0, speed - 10)
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print(f"Speed decreased to {speed}%")
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time.sleep(0.1)
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elif keyboard.is_pressed('e'): # Увеличение скорости
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speed = min(100, speed + 10)
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print(f"Speed increased to {speed}%")
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time.sleep(0.1)
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time.sleep(0.05) # Небольшая задержка для плавного опроса клавиш
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except KeyboardInterrupt:
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stop() # Остановка моторов при прерывании программы
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finally:
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pwm_a.stop()
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pwm_b.stop()
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GPIO.cleanup() # Очистка конфигурации GPIO
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