【智控万物】树莓派四驱车

import RPi.GPIO as GPIO
import time
import tkinter as tk
from tkinter import *
from PIL import Image, ImageTk

GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(3,GPIO.OUT,initial = GPIO.LOW)#M1
GPIO.setup(4,GPIO.OUT,initial = GPIO.LOW)#E1
GPIO.setup(5,GPIO.OUT,initial = GPIO.LOW)#M2
GPIO.setup(6,GPIO.OUT,initial = GPIO.LOW)#E2
GPIO.setup(7,GPIO.OUT,initial = GPIO.LOW)#M3
GPIO.setup(8,GPIO.OUT,initial = GPIO.LOW)#E3
GPIO.setup(9,GPIO.OUT,initial = GPIO.LOW)#M4
GPIO.setup(10,GPIO.OUT,initial = GPIO.LOW)#E4
p=[0,1,2,3,4,5,6,7,8,9,10,11]
v=30
def forward():
   global p,v
   if v<=100:
    for i in range(3,11,2):
     GPIO.output(i, GPIO.LOW)    
     p[i].start(v)
def left():
   global p,v
   if v<=100:
    ml=[5,7]
    mr=[3,9]
    for i in ml:
     GPIO.output(i, GPIO.LOW)
    for i in mr:
     GPIO.output(i, GPIO.HIGH)
    for i in range(3,11,2):
     p[i].start(v)
def right():
   global p,v
   if v<=100:
    ml=[5,7]
    mr=[3,9]
    for i in ml:
     GPIO.output(i, GPIO.HIGH)
    for i in mr:
     GPIO.output(i, GPIO.LOW)
    for i in range(3,11,2):
     p[i].start(v)
def back():
   global p,v
   if v<=100:
    for i in range(3,11,2):
     GPIO.output(i, GPIO.HIGH)  
     p[i].start(v)
def stop():
     global p
     for i in range(3,11,2):
      p[i].stop()
def setV():#设置车速
    global v
    val=int(E1.get())
    if val>=30 and val<=200:
        v=val         
for i in range(3,11,2):
   p[i]= GPIO.PWM(i+1, 200)
#生成窗体，布置相应文本框和按钮
top = tk.Tk()
top.title('控制窗口')
top.geometry('800x480')
image_width = 800
image_height = 480
canvas = Canvas(top,bg = 'white',width = image_width,height = image_height )#绘制画布
canvas.pack()

img = Image.open('bg.jpg')
bg = ImageTk.PhotoImage(img)
bgid = canvas.create_image(0, 0, image=bg, anchor='nw')
canvas.place(x = 0,y = 0)
#产生标签文本背景透明效果
txtid=canvas.create_text(300,20, fill = 'red',font=("黑体", 35),anchor="nw")
canvas.insert(txtid,1,"树莓派四驱车")

E1 = Entry(top, bd =5)
E1.pack(side = RIGHT)
E1.place(x=20,y=80)
wx=20
hy=130

#生成按钮，并指定相应功能
left = tk.Button(top,text='左转',height=2,width=15,command=left)
left.place(x=wx,y=hy+100)
forward = tk.Button(top,text='前进',height=2,width=15,command=forward)
forward.place(x=wx+150,y=hy)
right = tk.Button(top,text='右转',height=2,width=15,command=right)
right.place(x=wx+300,y=hy+100)
back = tk.Button(top,text='后退',height=2,width=15,command=back)
back.place(x=wx+150,y=hy+200)
stop = tk.Button(top,text='停止',height=2,width=15,command=stop)
stop.place(x=wx+150,y=hy+100)
wx=450
hy=130
setV = tk.Button(top,text='设速',height=2,width=15,command=setV)
setV.place(x=wx+150,y=hy+100)


while True:

  top.update()
  top.after(100)


top.mainloop()  




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