Maixduino麦克纳姆轮小车
本帖最后由 云天 于 2021-11-8 22:02 编辑https://www.bilibili.com/video/BV1nT4y197zN?share_source=copy_web
什么是麦克纳姆轮在竞赛机器人和特殊工种机器人中，全向移动经常是一个必需的功能。「全向移动」意味着可以在平面内做出任意方向平移同时自转的动作。为了实现全向移动，一般机器人会使用「全向轮」（Omni Wheel）或「麦克纳姆轮」（Mecanum Wheel）这两种特殊轮子。全向轮：麦克纳姆轮：麦克纳姆轮与普通轮子的区别在于麦克纳姆轮旋转时，由于存在斜向的从动轮，会同时产生一个斜向的力，当我们控制轮子旋转的速度与方向时，将斜向的力增强或抵消，从而实现小车的全向移动。可以完成横移、斜方向移动等普通小车无法完成的高难度动作，轮子的转动方向与小车的运动方向关系如下图：【麦克纳姆轮安装】车拆时再上图
【电机驱动L298N安装】车拆时再上图
【电机电源及灯带安装】车拆时再上图
【Maixduino 主控安装】车拆时再上图
【Mind+编程】【Micrpython代码】
# MindPlus
# maixduino
from network_esp32 import wifi
from board import board_info
from umqtt import MQTTClient
from machine import Timer
from pin import Pin
import ubinascii
import neopixel
import machine
import usocket
import time
import gc
def neopixel_range(rgb, start, end, color):
trend = -1 if end < start else 1
for i in range(start, end-1 if trend < 0 else end+1, trend):
rgb = (color)
rgb.write()
def hostgetIP(host):
return usocket.getaddrinfo(host,8080,0,0)
_mqtt_topic_list = []
def timer11_tick(_):
global mqtt
mqtt.check_msg()
def mqtt_callback(topic, msg):
try:
topic = topic.decode('utf-8', 'ignore')
_msg = msg.decode('utf-8', 'ignore')
eval('mqtt_topic_' + bytes.decode(ubinascii.hexlify(topic)) + '("' + _msg + '")')
except:
print((topic, msg))
def neopixel_rotate(rgb, offset):
steps = rgb.n
if offset == 0 or steps == 0:
return
offset = (abs(offset) % steps)*(-1 if offset < 0 else 1)
c = []
if offset > 0:
for i in range(0, offset):
c.append(rgb)
for i in range(steps-1, offset-1, -1):
rgb = rgb
for i in range(0, offset):
rgb = c
else:
for i in range(0, abs(offset)):
c.append(rgb)
for i in range(0, steps-abs(offset)):
rgb = rgb
for i in range(steps-abs(offset), steps):
rgb = c
rgb.write()
def neopixel_hsl(h, s, l):
h = (abs(h) % 360)*(-1 if h < 0 else 1)
s = max(s, 0); s = min(s, 99); l = max(l, 0); l = min(l, 99)
c = (((100 - abs(2 * l - 100)) * s) << 8) // 10000
h1 = h // 60; h2 = (h - h1 * 60) * 256 // 60;
temp = abs((((h1 % 2) << 8) + h2) - 256);
x = (c * (256 - (temp))) >> 8; _r = _g = _b = 0
if h1 == 0:
_r = c; _g = x; _b = 0
elif h1 == 1:
_r = x; _g = c; _b = 0
elif h1 == 2:
_r = 0; _g = c; _b = x
elif h1 == 3:
_r = 0; _g = x; _b = c
elif h1 == 4:
_r = x; _g = 0; _b = c
elif h1 == 5:
_r = c; _g = 0; _b = x
m = ((l * 2 << 8) // 100 - c) // 2
r = _r + m; g = _g + m; b = _b + m
return (r, g, b)
def neopixel_rainbow(rgb, start, end, start_hue, end_hue):
steps = rgb.n
if steps == 0:
return
if end < start:
num = end; end = start; start = num
start = max(start, 0); start = min(start, steps)
end = max(end, 0); end = min(end, steps)
steps = end - start + 1
saturation = 100; luminance = 50; h1 = start_hue; h2 = end_hue
hDistCW = (abs((h2 + 360) - h1) % 360)*(-1 if ((h2 + 360) - h1) < 0 else 1)
hStepCW = (hDistCW * 100) // steps; hStep = hStepCW
h1_100 = h1 * 100; s1 = saturation; s2 = saturation; sDist = s2 - s1
sStep = sDist // steps; s1_100 = s1 * 100; l1 = luminance; l2 = luminance
lDist = l2 - l1; lStep = lDist // steps; l1_100 = l1 * 100
if steps == 1:
rgb =neopixel_hsl(h1 + hStep, s1 + sStep, l1 + lStep)
else:
rgb = neopixel_hsl(start_hue, saturation, luminance)
for i in range(start + 1, start + steps - 1):
h = (h1_100 + i * hStep) // 100 + 360
s = (s1_100 + i * sStep) // 100
l = (l1_100 + i * lStep) // 100
rgb = neopixel_hsl(h, s, l)
rgb = neopixel_hsl(end_hue, saturation, luminance)
rgb.write()
# 自定义函数
def back():
Pin.digital_write(board_info.PIN2, 1)
Pin.digital_write(board_info.PIN3, 0)
Pin.digital_write(board_info.PIN4, 1)
Pin.digital_write(board_info.PIN5, 0)
Pin.digital_write(board_info.PIN8, 0)
Pin.digital_write(board_info.PIN9, 1)
Pin.digital_write(board_info.PIN10, 0)
Pin.digital_write(board_info.PIN11, 1)
def forward():
Pin.digital_write(board_info.PIN2, 0)
Pin.digital_write(board_info.PIN3, 1)
Pin.digital_write(board_info.PIN4, 0)
Pin.digital_write(board_info.PIN5, 1)
Pin.digital_write(board_info.PIN8, 1)
Pin.digital_write(board_info.PIN9, 0)
Pin.digital_write(board_info.PIN10, 1)
Pin.digital_write(board_info.PIN11, 0)
def stop():
Pin.digital_write(board_info.PIN2, 0)
Pin.digital_write(board_info.PIN3, 0)
Pin.digital_write(board_info.PIN4, 0)
Pin.digital_write(board_info.PIN5, 0)
Pin.digital_write(board_info.PIN8, 0)
Pin.digital_write(board_info.PIN9, 0)
Pin.digital_write(board_info.PIN10, 0)
Pin.digital_write(board_info.PIN11, 0)
def right():
Pin.digital_write(board_info.PIN10, 1)
Pin.digital_write(board_info.PIN11, 0)
Pin.digital_write(board_info.PIN2, 1)
Pin.digital_write(board_info.PIN3, 0)
Pin.digital_write(board_info.PIN8, 0)
Pin.digital_write(board_info.PIN9, 1)
Pin.digital_write(board_info.PIN4, 0)
Pin.digital_write(board_info.PIN5, 1)
def left():
Pin.digital_write(board_info.PIN10, 0)
Pin.digital_write(board_info.PIN11, 1)
Pin.digital_write(board_info.PIN2, 0)
Pin.digital_write(board_info.PIN3, 1)
Pin.digital_write(board_info.PIN8, 1)
Pin.digital_write(board_info.PIN9, 0)
Pin.digital_write(board_info.PIN4, 1)
Pin.digital_write(board_info.PIN5, 0)
# 事件回调函数
def mqtt_topic_356e39327571424d67(_msg):
global JieGuo
if (_msg == 'G'):
forward()
time.sleep(0.2)
stop()
if (_msg == 'B'):
back()
time.sleep(0.2)
stop()
if (_msg == 'L'):
left()
time.sleep(0.2)
stop()
if (_msg == 'R'):
right()
time.sleep(0.2)
stop()
if (_msg == 'S'):
stop()
if (_msg == 'Y'):
JieGuo = 1
neopixel_rainbow(ws2812_13, 0, 15, 1, 360)
if (_msg == 'N'):
JieGuo = 0
ws2812_13.fill((0, 0, 0))
ws2812_13.write()
ws2812_13 = neopixel.NeoPixel(board_info.PIN13, n=16, bpp=3, timing=1)
ws2812_13.fill((0, 0, 0))
ws2812_13.write()
neopixel_range(ws2812_13, 0, 15, (0, 0, 255))
time.sleep(3)
ws2812_13.fill((0, 0, 0))
ws2812_13.write()
wifi.connect("sxs", "smj080823")
while not (wifi.isconnected()):
pass
mqtt = MQTTClient("", hostgetIP("iot.dfrobot.com.cn"), 1883, "X8jykxFnR", "u8jskbFngz", keepalive=300)
try:
mqtt.connect()
print('MQTT Connected Successful')
except:
print('MQTT Connection Failed')
mqtt.set_callback(mqtt_callback)
mqtt.subscribe("5n92uqBMg")
tim11 =Timer(Timer.TIMER2,Timer.CHANNEL3,mode=Timer.MODE_PERIODIC,period=50,callback=timer11_tick)
ShiJian = time.ticks_ms()
JieGuo = 0
neopixel_range(ws2812_13, 0, 15, (204, 0, 0))
time.sleep(3)
ws2812_13.fill((0, 0, 0))
ws2812_13.write()
while True:
if (JieGuo == 1):
if ((time.ticks_ms() - ShiJian) > 200):
neopixel_rotate(ws2812_13, 1)
ShiJian = time.ticks_ms()
if Pin.digital_read(board_info.PIN6):
gc.collect()
neopixel_range(ws2812_13, 0, 15, (0, 0, 255))
time.sleep(0.2)
ws2812_13.fill((0, 0, 0))
ws2812_13.write()
neopixel_range(ws2812_13, 0, 15, (204, 0, 0))
time.sleep(0.2)
ws2812_13.fill((0, 0, 0))
ws2812_13.write()
machine.reset()
其中修改“mqtt = MQTTClient("", hostgetIP("iot.dfrobot.com.cn"), 1883, "X8jykxFnR", "u8jskbFngz", keepalive=300)”中的“keepalive”值改为“300”。（MQTT在建立连接的时候，我们可以传递一个 Keep Alive 参数，它的单位为秒，MQTT 协议中约定：在 1.5*Keep Alive 的时间间隔内，如果 Broker 没有收到来自 Client 的任何数据包，那么 Broker 认为它和 Client 之间的连接已经断开；同样地, 如果 Client 没有收到来自 Broker 的任何数据包，那么 Client 认为它和 Broker 之间的连接已经断开。)
【App Inventor编程】
【程序进一步优化】为实现小车连续运动，将APP中的按钮命令“点击”发送修改为“按下”发送，再增加“松开”命令发送“停止指令”。Maixduino程序中将接收命令后的"stop"指令去掉。
# MindPlus
# maixduino
from network_esp32 import wifi
from board import board_info
from umqtt import MQTTClient
from machine import Timer
from pin import Pin
import ubinascii
import neopixel
import usocket
import time
def neopixel_range(rgb, start, end, color):
trend = -1 if end < start else 1
for i in range(start, end-1 if trend < 0 else end+1, trend):
rgb = (color)
rgb.write()
def hostgetIP(host):
return usocket.getaddrinfo(host,8080,0,0)
_mqtt_topic_list = []
def timer11_tick(_):
global mqtt
mqtt.check_msg()
def mqtt_callback(topic, msg):
try:
topic = topic.decode('utf-8', 'ignore')
_msg = msg.decode('utf-8', 'ignore')
eval('mqtt_topic_' + bytes.decode(ubinascii.hexlify(topic)) + '("' + _msg + '")')
except:
print((topic, msg))
def neopixel_rotate(rgb, offset):
steps = rgb.n
if offset == 0 or steps == 0:
return
offset = (abs(offset) % steps)*(-1 if offset < 0 else 1)
c = []
if offset > 0:
for i in range(0, offset):
c.append(rgb)
for i in range(steps-1, offset-1, -1):
rgb = rgb
for i in range(0, offset):
rgb = c
else:
for i in range(0, abs(offset)):
c.append(rgb)
for i in range(0, steps-abs(offset)):
rgb = rgb
for i in range(steps-abs(offset), steps):
rgb = c
rgb.write()
def neopixel_hsl(h, s, l):
h = (abs(h) % 360)*(-1 if h < 0 else 1)
s = max(s, 0); s = min(s, 99); l = max(l, 0); l = min(l, 99)
c = (((100 - abs(2 * l - 100)) * s) << 8) // 10000
h1 = h // 60; h2 = (h - h1 * 60) * 256 // 60;
temp = abs((((h1 % 2) << 8) + h2) - 256);
x = (c * (256 - (temp))) >> 8; _r = _g = _b = 0
if h1 == 0:
_r = c; _g = x; _b = 0
elif h1 == 1:
_r = x; _g = c; _b = 0
elif h1 == 2:
_r = 0; _g = c; _b = x
elif h1 == 3:
_r = 0; _g = x; _b = c
elif h1 == 4:
_r = x; _g = 0; _b = c
elif h1 == 5:
_r = c; _g = 0; _b = x
m = ((l * 2 << 8) // 100 - c) // 2
r = _r + m; g = _g + m; b = _b + m
return (r, g, b)
def neopixel_rainbow(rgb, start, end, start_hue, end_hue):
steps = rgb.n
if steps == 0:
return
if end < start:
num = end; end = start; start = num
start = max(start, 0); start = min(start, steps)
end = max(end, 0); end = min(end, steps)
steps = end - start + 1
saturation = 100; luminance = 50; h1 = start_hue; h2 = end_hue
hDistCW = (abs((h2 + 360) - h1) % 360)*(-1 if ((h2 + 360) - h1) < 0 else 1)
hStepCW = (hDistCW * 100) // steps; hStep = hStepCW
h1_100 = h1 * 100; s1 = saturation; s2 = saturation; sDist = s2 - s1
sStep = sDist // steps; s1_100 = s1 * 100; l1 = luminance; l2 = luminance
lDist = l2 - l1; lStep = lDist // steps; l1_100 = l1 * 100
if steps == 1:
rgb =neopixel_hsl(h1 + hStep, s1 + sStep, l1 + lStep)
else:
rgb = neopixel_hsl(start_hue, saturation, luminance)
for i in range(start + 1, start + steps - 1):
h = (h1_100 + i * hStep) // 100 + 360
s = (s1_100 + i * sStep) // 100
l = (l1_100 + i * lStep) // 100
rgb = neopixel_hsl(h, s, l)
rgb = neopixel_hsl(end_hue, saturation, luminance)
rgb.write()
# 自定义函数
def back():
Pin.digital_write(board_info.PIN2, 1)
Pin.digital_write(board_info.PIN3, 0)
Pin.digital_write(board_info.PIN4, 1)
Pin.digital_write(board_info.PIN5, 0)
Pin.digital_write(board_info.PIN8, 0)
Pin.digital_write(board_info.PIN9, 1)
Pin.digital_write(board_info.PIN10, 0)
Pin.digital_write(board_info.PIN11, 1)
def forward():
Pin.digital_write(board_info.PIN2, 0)
Pin.digital_write(board_info.PIN3, 1)
Pin.digital_write(board_info.PIN4, 0)
Pin.digital_write(board_info.PIN5, 1)
Pin.digital_write(board_info.PIN8, 1)
Pin.digital_write(board_info.PIN9, 0)
Pin.digital_write(board_info.PIN10, 1)
Pin.digital_write(board_info.PIN11, 0)
def stop():
Pin.digital_write(board_info.PIN2, 0)
Pin.digital_write(board_info.PIN3, 0)
Pin.digital_write(board_info.PIN4, 0)
Pin.digital_write(board_info.PIN5, 0)
Pin.digital_write(board_info.PIN8, 0)
Pin.digital_write(board_info.PIN9, 0)
Pin.digital_write(board_info.PIN10, 0)
Pin.digital_write(board_info.PIN11, 0)
def right():
Pin.digital_write(board_info.PIN10, 1)
Pin.digital_write(board_info.PIN11, 0)
Pin.digital_write(board_info.PIN2, 1)
Pin.digital_write(board_info.PIN3, 0)
Pin.digital_write(board_info.PIN8, 0)
Pin.digital_write(board_info.PIN9, 1)
Pin.digital_write(board_info.PIN4, 0)
Pin.digital_write(board_info.PIN5, 1)
def left():
Pin.digital_write(board_info.PIN10, 0)
Pin.digital_write(board_info.PIN11, 1)
Pin.digital_write(board_info.PIN2, 0)
Pin.digital_write(board_info.PIN3, 1)
Pin.digital_write(board_info.PIN8, 1)
Pin.digital_write(board_info.PIN9, 0)
Pin.digital_write(board_info.PIN4, 1)
Pin.digital_write(board_info.PIN5, 0)
# 事件回调函数
def mqtt_topic_356e39327571424d67(_msg):
global JieGuo
if (_msg == 'G'):
forward()
if (_msg == 'B'):
back()
if (_msg == 'L'):
left()
if (_msg == 'R'):
right()
if (_msg == 'S'):
stop()
if (_msg == 'Y'):
JieGuo = 1
neopixel_rainbow(ws2812_13, 0, 15, 1, 360)
if (_msg == 'N'):
JieGuo = 0
ws2812_13.fill((0, 0, 0))
ws2812_13.write()
ws2812_13 = neopixel.NeoPixel(board_info.PIN13, n=16, bpp=3, timing=1)
ws2812_13.fill((0, 0, 0))
ws2812_13.write()
neopixel_range(ws2812_13, 0, 15, (0, 0, 255))
time.sleep(3)
ws2812_13.fill((0, 0, 0))
ws2812_13.write()
wifi.connect("sxs", "smj080823")
while not (wifi.isconnected()):
pass
mqtt = MQTTClient("", hostgetIP("iot.dfrobot.com.cn"), 1883, "X8jykxFnR", "u8jskbFngz", keepalive=30)
try:
mqtt.connect()
print('MQTT Connected Successful')
except:
print('MQTT Connection Failed')
mqtt.set_callback(mqtt_callback)
mqtt.subscribe("5n92uqBMg")
tim11 =Timer(Timer.TIMER2,Timer.CHANNEL3,mode=Timer.MODE_PERIODIC,period=50,callback=timer11_tick)
ShiJian = time.ticks_ms()
JieGuo = 0
neopixel_range(ws2812_13, 0, 15, (204, 0, 0))
time.sleep(3)
ws2812_13.fill((0, 0, 0))
ws2812_13.write()
while True:
if (JieGuo == 1):
if ((time.ticks_ms() - ShiJian) > 200):
neopixel_rotate(ws2812_13, 1)
ShiJian = time.ticks_ms()
演示：麦克纳姆大战小黑https://www.bilibili.com/video/BV1MP4y157A5?share_source=copy_web
【语音控制】
1、使用软件“MaixPy IDE”，首先将asr.py上传到Maixduino板子上。选择“工具”菜单，“发送文件到开发板”。
文中用到的ASR.py是由df团队编写（感谢李工提供），具体代码如下：
import time
import json
from Maix import GPIO, I2S
from fpioa_manager import fm
from speech_recognizer import isolated_word
class ASR:
def __init__(self):
self.asr = None
self.i2s = None
self.model = None
def __start(self, size):
if self.asr:
del self.asr
if self.i2s:
del self.i2s
try:
fm.register(20,fm.fpioa.I2S0_IN_D0, force=True)
fm.register(18,fm.fpioa.I2S0_SCLK, force=True)
fm.register(19,fm.fpioa.I2S0_WS, force=True)
self.i2s = I2S(I2S.DEVICE_0)
self.i2s.channel_config(self.i2s.CHANNEL_0, self.i2s.RECEIVER, align_mode=I2S.STANDARD_MODE)
self.i2s.set_sample_rate(16000)
self.asr = isolated_word(dmac=2, i2s=I2S.DEVICE_0, size=size)
self.asr.set_threshold(0, 0, 15000)
return True
except:
return False
def newModel(self):
return []
def training(self, corpus, model):
if not corpus or not self.__start(1) or not self.asr:
return
rc=1
co=0
while True:
time.sleep_ms(100)
if self.asr.Done == self.asr.record(0):
model.append({'name': corpus, 'data': self.asr.get(0)})
print("complete")
break
if self.asr.Speak == self.asr.state():
if rc != -1:
print()
print("speak: " + str(corpus))
rc = -1
else:
if co%2==0:
print("\rready" + "."*rc + " "*(3-rc), end='')
rc += 1
if rc > 3:
rc = 1
co += 1
def run(self, model):
if not model or len(model)<1 or not self.__start(len(model)) or not self.asr:
return None
for i in range(len(model)):
self.asr.set(i, model['data'])
self.model = model
def recognize(self):
if not self.model or len(self.model)<1 or not self.asr:
return None
for i in range(20):
if self.asr.Done == self.asr.recognize():
result = self.asr.result()
if result:
return self.model]['name']
return None
def save(self, model, path):
if not model or not path:
return False
try:
for i in range(len(model)):
model['data'] = list(model['data'])
model['data'] = list(model['data'])
with open(path, "wb") as f:
json.dump(model,f)
f.close()
return True
except:
return False
def load(self, path):
if not path:
return []
try:
with open(path, "rb") as f:
model = json.load(f)
for i in range(len(model)):
model['data'] = bytes(model['data'])
model['data'] = tuple(model['data'])
f.close()
return model
except:
return []
asr = ASR()
2、固件要使用“maixpy_v0.6.2_72_g22a8555b5_minimum_speech_with_ide_support ”
https://cn.dl.sipeed.com/shareURL/MAIX/MaixPy/release/master/maixpy_v0.6.2_72_g22a8555b5
3、训练代码
# MindPlus
# maixduino
from board import board_info
from ASR import asr
import time
from Maix import GPIO
from fpioa_manager import fm
fm.register(board_info.PIN12,fm.fpioa.GPIO0)
led_r=GPIO(GPIO.GPIO0,GPIO.OUT)
led_r.value(0)
time.sleep(1)
led_r.value(1)
model = asr.newModel()
corpus = ['打开','关闭','退出']
print('开始训练')
for order in corpus:
asr.training(order, model)
print('训练完成')
asr.save(model, "/flash/asr.json")
asr.run(asr.load("/flash/asr.json"))
while True:
result = asr.recognize()
if bool(result):
print(result)
if (result == '打开'):
led_r.value(1)
if (result == '关闭'):
led_r.value(0)
if (result == '退出'):
break
fm.unregister(board_info.PIN12)
LED灯接在扩展板的12引脚上。
4、测试代码
# MindPlus
# maixduino
from board import board_info
from ASR import asr
import time
from Maix import GPIO
from fpioa_manager import fm
fm.register(board_info.PIN12,fm.fpioa.GPIO0)
led_r=GPIO(GPIO.GPIO0,GPIO.OUT)
led_r.value(1)
time.sleep(1)
led_r.value(0)
asr.run(asr.load("/flash/asr.json"))
while True:
result = asr.recognize()
if bool(result):
print(result)
if (result == '打开'):
led_r.value(1)
if (result == '关闭'):
led_r.value(0)
if (result == '退出'):
break
fm.unregister(board_info.PIN12)
测试
https://www.bilibili.com/video/BV1kL4y1q7ik?share_source=copy_web
【语音控车】1.训练程序
from board import board_info
from ASR import asr
import time
from Maix import GPIO
from fpioa_manager import fm
fm.register(board_info.PIN12,fm.fpioa.GPIO0)
led_r=GPIO(GPIO.GPIO0,GPIO.OUT)
led_r.value(0)
time.sleep(1)
led_r.value(1)
model = asr.newModel()
#corpus = ['打开','关闭','退出','前进','后退','向左','向右','停止']
print('开始训练')
for order in corpus:
asr.training(order, model)
print('训练完成')
asr.save(model, "/flash/asr.json")
2、语音控车代码
# MindPlus
# maixduino
from board import board_info
from ASR import asr
import time
from Maix import GPIO
from fpioa_manager import fm
fm.register(board_info.PIN2,fm.fpioa.GPIO0)
PIN2=GPIO(GPIO.GPIO0,GPIO.OUT)
fm.register(board_info.PIN3,fm.fpioa.GPIO1)
PIN3=GPIO(GPIO.GPIO1,GPIO.OUT)
fm.register(board_info.PIN4,fm.fpioa.GPIO2)
PIN4=GPIO(GPIO.GPIO2,GPIO.OUT)
fm.register(board_info.PIN5,fm.fpioa.GPIO3)
PIN5=GPIO(GPIO.GPIO3,GPIO.OUT)
fm.register(board_info.PIN8,fm.fpioa.GPIO4)
PIN8=GPIO(GPIO.GPIO4,GPIO.OUT)
fm.register(board_info.PIN9,fm.fpioa.GPIO5)
PIN9=GPIO(GPIO.GPIO5,GPIO.OUT)
fm.register(board_info.PIN10,fm.fpioa.GPIO6)
PIN10=GPIO(GPIO.GPIO6,GPIO.OUT)
fm.register(board_info.PIN11,fm.fpioa.GPIO7)
PIN11=GPIO(GPIO.GPIO7,GPIO.OUT)
fm.register(board_info.PIN12,fm.fpioa.GPIOHS0)
led_r=GPIO(GPIO.GPIOHS0,GPIO.OUT)
# 自定义函数
def back():
Pin.digital_write(PIN2, 1)
Pin.digital_write(PIN3, 0)
Pin.digital_write(PIN4, 1)
Pin.digital_write(PIN5, 0)
Pin.digital_write(PIN8, 0)
Pin.digital_write(PIN9, 1)
Pin.digital_write(PIN10, 0)
Pin.digital_write(PIN11, 1)
def forward():
Pin.digital_write(PIN2, 0)
Pin.digital_write(PIN3, 1)
Pin.digital_write(PIN4, 0)
Pin.digital_write(PIN5, 1)
Pin.digital_write(PIN8, 1)
Pin.digital_write(PIN9, 0)
Pin.digital_write(PIN10, 1)
Pin.digital_write(PIN11, 0)
def stop():
Pin.digital_write(PIN2, 0)
Pin.digital_write(PIN3, 0)
Pin.digital_write(PIN4, 0)
Pin.digital_write(PIN5, 0)
Pin.digital_write(PIN8, 0)
Pin.digital_write(PIN9, 0)
Pin.digital_write(PIN10, 0)
Pin.digital_write(PIN11, 0)
def right():
Pin.digital_write(PIN10, 1)
Pin.digital_write(PIN11, 0)
Pin.digital_write(PIN2, 1)
Pin.digital_write(PIN3, 0)
Pin.digital_write(PIN8, 0)
Pin.digital_write(PIN9, 1)
Pin.digital_write(PIN4, 0)
Pin.digital_write(PIN5, 1)
def left():
Pin.digital_write(PIN10, 0)
Pin.digital_write(PIN11, 1)
Pin.digital_write(PIN2, 0)
Pin.digital_write(PIN3, 1)
Pin.digital_write(PIN8, 1)
Pin.digital_write(PIN9, 0)
Pin.digital_write(PIN4, 1)
Pin.digital_write(PIN5, 0)
led_r.value(1)
time.sleep(1)
led_r.value(0)
asr.run(asr.load("/flash/asr.json"))
while True:
result = asr.recognize()
if bool(result):
print(result)
if (result == '前进'):
forword()
time.sleep(0.2)
stop()
if (result == '后退'):
back()
time.sleep(0.2)
stop()
if (result == '向左'):
left()
time.sleep(0.2)
stop()
if (result == '向右'):
right()
time.sleep(0.2)
stop()
if (result == '打开'):
led_r.value(1)
if (result == '关闭'):
led_r.value(0)
if (result == '退出'):
break
fm.unregister(board_info.PIN12)
fm.unregister(board_info.PIN2)
fm.unregister(board_info.PIN3)
fm.unregister(board_info.PIN4)
fm.unregister(board_info.PIN5)
fm.unregister(board_info.PIN8)
fm.unregister(board_info.PIN9)
fm.unregister(board_info.PIN10)
fm.unregister(board_info.PIN11)
测试
https://www.bilibili.com/video/BV1eq4y137gz?share_source=copy_web
演示
https://www.bilibili.com/video/BV1zQ4y1m7pw?share_source=copy_web
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