小龟机器人Python教学案例 DF创客社区

捣腾一个机器人 发表于 2023-6-7 17:10:23

小龟机器人Python教学案例

本帖最后由捣腾一个机器人于 2023-6-7 17:24 编辑

前言：
小龟机器人可以轻松学习机器人编程，不管是图形化编程，还是Python编程、Web编程，它都行。小龟同时开发了一体化编程平台，通过浏览器就可以直接进行编程，省去了下载安装的烦恼，让广大师生可以更轻松更愉快的学习机器人。

本文介绍小龟的Python机器人编程案例，辅以图形化编程帮助参考理解，主要由两部分组成：

1、Python教学案例介绍在教学上的实际应用；

2、Python编辑器介绍在线和离线双模式下的使用方法。

小龟机器人Python教学案例

案例1 使用超声波模块实现近距离告警提示
知识点：

变量、循环、逻辑、音频

Python代码：

d = None

while True:
sleep(0.001)
d = car.hcsr04(A1, A2)
if d <= 10:
car.buzzer.fire()
else:
car.buzzer.music('''1=''')
sleep(1)
图形化编程：

案例2 跑马灯

知识点：

列表、色彩

Python代码：
i = None

for i in , 16),
   int('0x' + '#33ff33', 16),
   int('0x' + '#000099', 16),
   int('0x' + '#000000', 16)]:
sleep(0.001)
car.led.on(i)
sleep(0.75)

图形化编程：

案例3 小车精准右转90度

知识点：

角度积分、绝对值、逻辑、电机运动

Python代码：
import math

car.motion.start_offset()
car.motion.start_rpy()
car.right(30)
while True:
sleep(0.001)
if math.fabs(car.motion.rpy()) >= 90:
car.stop()
break
图形化编程：

案例4 按键控制LED灯

知识点:

循环、逻辑、色彩、人机互动

Python代码：
while True:
sleep(0.001)
sleep(0.01)
if (car.touch.is_pressed(A)) and (car.touch.is_pressed(B)):
car.led.on(int('0x' + '#0000ff', 16))
elif car.touch.is_pressed(B):
car.led.on(int('0x' + '#ff0000', 16))
elif car.touch.is_pressed(A):
car.led.on(int('0x' + '#33ff33', 16))
else:
car.led.off()
图形化编程：

案例5 WS2812灯组逐个亮起

知识点：

变量递增、WS2812

Python代码：
E7_81_AF_E7_BB_841 = None
i = None

_E7_81_AF_E7_BB_841 = * 64
def hex2rgb(color):
r = color >> 16
g = color >> 8 & 0x00FF
b = color & 0x0000FF
return (r,g,b)

def set_brightness(brightness,r,g,b):
r = r*brightness//100
g = g*brightness//100
b = b*brightness//100
return (r,g,b)

def rgb2hex(r,g,b):
return r << 16 | g << 8 | b

def breathe(l, color, start_led=0, end_led=64, speed = 0.02, breathe_times=1, min_rightness=0, max_rightness=64, pin="A1"):
rgb_color = hex2rgb(color)
for k in range(breathe_times):
   for i in range(min_rightness, max_rightness):
         rgb_color_brightness = set_brightness(i, *rgb_color)
         hex_color = rgb2hex(*rgb_color_brightness)
         for j in range(start_led, end_led):
            l = hex_color
         car.ws2812.write(pin, l)
         sleep(speed)
   for i in range(max_rightness, min_rightness-1, -1):
         rgb_color_brightness = set_brightness(i, *rgb_color)
         hex_color = rgb2hex(*rgb_color_brightness)
         for j in range(start_led, end_led):
            l = hex_color
         car.ws2812.write(A1, l)
         sleep(speed)

for i in range(1, 65):
sleep(0.001)
_E7_81_AF_E7_BB_841 = int('0x' + '#3366ff', 16)
car.ws2812.write(A1, _E7_81_AF_E7_BB_841)
sleep(0.02)
图形化编程：

案例6 舵机组并行运动

知识点：

舵机运动、舵机组运动、串行控制、并行控制

Python代码：
car.servo(,[
,
,
,])
图形化编程：

案例7 在屏幕指定坐标位置显示文字

知识点：

坐标、屏幕显示

Python代码：
car.screen.print(str('ABC'), 0, 0)
图形化编程：

案例8 四足前进运动

知识点：

舵机组运动、四足步态

Python代码：
import math
class Dog:
def __init__(self, pins, values, directions, leg_length, leg_space, leg_space_offside):
   self.pins = pins
   self.values = values
   self.directions = directions
   self.leg_length = leg_length
   self.leg_space = leg_space
   self.leg_space_offside = leg_space_offside

def xpos(self, x1, x2, x3, x4, t1=0.5, t2=0):
   v1 = self.values
   v2 = self.values
   v3 = self.values
   v4 = self.values
   o1 = self.x2offset(x1)
   o2 = self.x2offset(x2)
   o3 = self.x2offset(x3)
   o4 = self.x2offset(x4)
   d1 = self.directions
   d2 = self.directions
   d3 = self.directions
   d4 = self.directions

   return

def zpos(self, z1, z2, z3, z4, t1=0.5, t2=0):
   v1 = self.values
   v2 = self.values
   v3 = self.values
   v4 = self.values
   o1 = self.z2offset(z1)
   o2 = self.z2offset(z2)
   o3 = -self.z2offset(z3)
   o4 = -self.z2offset(z4)
   d1 = self.directions
   d2 = self.directions
   d3 = self.directions
   d4 = self.directions

   return

def set_x(self, dx, t=0.5):
   car.servo(self.pins, [
         self.xpos(-dx, -dx, -dx, -dx, t)
   ])
   sleep(t)

def set_z(self, height, t=0.5):
   _h = self.leg_length + height
   car.servo(self.pins, [
         self.zpos(_h, _h, _h, _h, t)
   ])
   sleep(t)

def x2offset(self, dx):
   offsetRad = math.asin(dx/self.leg_length)
   offsetDeg = offsetRad * (180 / math.pi)
   return offsetDeg

def z2offset(self, dz):
   offsetRad = math.acos(dz/self.leg_length)
   offsetDeg = offsetRad * (180 / math.pi)
   return offsetDeg

def rotate_x(self, deg, t=0.5):
   rad = deg * (math.pi / 180)
   h = self.leg_space_offside / 2 * math.sin(rad)

   _l = self.leg_length / 1.414
   car.servo(self.pins, [
         self.zpos(_l + h, _l - h, _l + h, _l - h, t)
   ])
   sleep(t)

def rotate_y(self, deg, t=0.5):
   rad = deg * (math.pi / 180)
   h = self.leg_space / 2 * math.sin(rad)
   _l = self.leg_length / 1.414
   car.servo(self.pins, [
         self.zpos(_l + h, _l + h, _l - h, _l - h, t)
   ])
   sleep(t)

def go(self, dx, interval=0.5, keep=1):
   times = keep / (interval*4)
   _times = math.floor(times)

   for i in range(times):
         car.servo(self.pins, [
            self.xpos(0,dx,0,-dx, interval),
            self.xpos(dx,dx,0,-dx, interval),
            self.xpos(dx,0,-dx,0, interval),
            self.xpos(dx,dx,-dx,0, interval),
         ], 0)
         sleep(interval*4)

   car.servo(self.pins, )

def back(self, dx, interval=0.5, keep=1):
   times = keep / (interval*4)
   _times = math.floor(times)

   for i in range(times):
         car.servo(self.pins, [
            self.xpos(0,dx,0,-dx, interval),
            self.xpos(0,dx,0-dx,-dx, interval),
            self.xpos(dx,0,-dx,0, interval),
            self.xpos(dx,0,-dx,-dx, interval),
         ], 0)
         sleep(interval*4)

   car.servo(self.pins, )

def left(self, dx, interval=0.5, keep=1):
   times = keep / (interval*4)
   _times = math.floor(times)

   for i in range(times):
         car.servo(self.pins, [
            self.xpos(0,dx,0,-dx, interval),
            self.xpos(-dx,dx,0,-dx, interval),
            self.xpos(-dx,0,dx,0, interval),
            self.xpos(-dx,dx,dx,0, interval),
         ], 0)
         sleep(interval*4)

   car.servo(self.pins, )

def right(self,dx, interval=0.5, keep=1):
   times = keep / (interval*4)
   _times = math.floor(times)

   for i in range(times):
         car.servo(self.pins, [
            self.xpos(dx,0,-dx,0, interval),
            self.xpos(dx,-dx,-dx,0, interval),
            self.xpos(0,-dx,0,dx, interval),
            self.xpos(dx,-dx,0,dx, interval),
         ], 0)
         sleep(interval*4)

   car.servo(self.pins, )

pins =
values =
dirs = [-1, +1, -1, +1]
leg_len = 34
leg_space=45
leg_space_offside=95
dog = Dog(pins, values, dirs, leg_len, leg_space, leg_space_offside)
dog.go(15,0.5,3)

图形化编程：

案例9 小车通过识别二维码运动

知识点：

机器视觉、图像处理、变量、逻辑、循环、文本

Python代码：
code = None

car.vision.on('Y')
while True:
sleep(0.001)
car.vision.snap()
code = car.vision.qrcode()
if code == 'GO':
car.go(30, 2)
sleep(2)
if code == 'LEFT':
car.left(30, 2)
sleep(2)
sleep(1)
图形化编程：

小龟机器人Python编辑器

在线模式：

登录网址：http://guidan.com/ide2/

离线模式：

1、连接小龟机器人自身热点：xiaogui-xxxx或小车-xxxx（固件版本不同显示差异，若提示该网络不能上网请选择继续使用该网络）

2、登录：192.168.4.1，页面显示如下

3、点击Python即可进行Python教学和练习

花生编程 发表于 2023-8-8 22:51:08

厉害厉害

花生编程 发表于 2023-8-8 22:52:11

赞赞赞赞赞！

三春牛-创客 发表于 2023-8-9 09:21:45

厉害厉害

三春牛-创客 发表于 2023-8-9 09:22:48

不错，教程很详细！

星某小号 发表于 2023-9-1 17:50:32

谢谢分享谢谢分享

星某小号 发表于 2023-9-1 17:50:56

教程太详细了

页: [1]

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小龟机器人Python教学案例