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大创小车的底盘控制

下位机采用arduino,代码如下

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// 定义轮子控制引脚
#define LEFT_FRONT_PWM 3
#define LEFT_FRONT_DIR 4
#define RIGHT_FRONT_PWM 5
#define RIGHT_FRONT_DIR 6
#define LEFT_REAR_PWM 9
#define LEFT_REAR_DIR 10
#define RIGHT_REAR_PWM 11
#define RIGHT_REAR_DIR 12

void setup() {
  // 设置控制引脚为输出模式
  pinMode(LEFT_FRONT_PWM, OUTPUT);
  pinMode(LEFT_FRONT_DIR, OUTPUT);
  pinMode(RIGHT_FRONT_PWM, OUTPUT);
  pinMode(RIGHT_FRONT_DIR, OUTPUT);
  pinMode(LEFT_REAR_PWM, OUTPUT);
  pinMode(LEFT_REAR_DIR, OUTPUT);
  pinMode(RIGHT_REAR_PWM, OUTPUT);
  pinMode(RIGHT_REAR_DIR, OUTPUT);

  // 初始化串口通信
  Serial.begin(9600);
}

void loop() {
  if (Serial.available() > 0) {
    // 读取串口数据
    String command = Serial.readStringUntil('\n');
    command.trim(); // 去除多余的空白符
    if (command.length() == 5) {
      // 通信测试命令
      if (command == "E0000") {
        Serial.println("999"); // 返回通信正常标志
        return; // 不继续处理其他命令
      }

      // 停止所有轮子命令
      if (command == "S0000") {
        stopAllMotors();
        Serial.println("All motors stopped");
        return; // 不继续处理其他命令
      }

      // 解析命令
      char wheel = command[0];      // 轮子标识符（A/B/C/D）
      int direction = command[1] - '0'; // 方向（0或1）
      int speed = command.substring(2).toInt(); // 速度（0-255）

      // 限幅处理
      speed = constrain(speed, 0, 200); // 限制速度在0-200之间

      // 根据轮子标识符设置对应电机
      switch (wheel) {
        case 'A': // 左前轮
          setMotor(LEFT_FRONT_PWM, LEFT_FRONT_DIR, speed, direction);
          break;
        case 'B': // 右前轮
          setMotor(RIGHT_FRONT_PWM, RIGHT_FRONT_DIR, speed, direction);
          break;
        case 'C': // 左后轮
          setMotor(LEFT_REAR_PWM, LEFT_REAR_DIR, speed, direction);
          break;
        case 'D': // 右后轮
          setMotor(RIGHT_REAR_PWM, RIGHT_REAR_DIR, speed, direction);
          break;
        default:
          Serial.println("Invalid command"); // 错误命令提示
          break;
      }
    } else {
      Serial.println("Command length error"); // 命令长度错误提示
    }
  }
}

// 设置电机函数
void setMotor(int pwmPin, int dirPin, int speed, int direction) {
  if (pwmPin == RIGHT_FRONT_PWM || pwmPin == RIGHT_REAR_PWM) {
    direction = !direction;
  }
  digitalWrite(dirPin, direction ? HIGH : LOW);
  analogWrite(pwmPin, speed);
  // 输出调试信息
  Serial.print("Motor ");
  Serial.print(pwmPin);
  Serial.print(" set to speed: ");
  Serial.print(speed);
  Serial.print(", direction: ");
  Serial.println(direction ? "Forward" : "Backward");
}

// 停止所有轮子的函数
void stopAllMotors() {
  analogWrite(LEFT_FRONT_PWM, 0);
  analogWrite(RIGHT_FRONT_PWM, 0);
  analogWrite(LEFT_REAR_PWM, 0);
  analogWrite(RIGHT_REAR_PWM, 0);

  Serial.println("Motors stopped");
}

上位机测试遥控代码如下，

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import serial
import keyboard
import time

# 初始化串口
SERIAL_PORT = "COM7"  # 根据实际端口修改
BAUD_RATE = 9600
ser = serial.Serial(SERIAL_PORT, BAUD_RATE, timeout=1)

# 初始化PWM和方向
PWM = 30  # 默认速度
DIRECTION = {
    "FORWARD": 1,
    "BACKWARD": 0
}

def send_command(wheel, direction, speed):
    """
    向下位机发送控制命令。
    :param wheel: 轮子标识符 ('A', 'B', 'C', 'D')
    :param direction: 方向 (0 或 1)
    :param speed: 速度 (0-255)
    """
    command = f"{wheel}{direction}{speed:03d}"
    ser.write((command + "\n").encode())
    print(f"Sent: {command}")

def stop_all_motors():
    """发送停止所有轮子的命令。"""
    ser.write("S0000\n".encode())
    print("Sent: S0000 (Stop all motors)")

def control_car():
    """
    通过键盘控制小车。
    W: 前进
    S: 后退
    A: 左转
    D: 右转
    Q: 停止
    """
    global PWM
    try:
        print("Use W/A/S/D to control the car, Q to stop, +/- to adjust speed.")
        while True:
            if keyboard.is_pressed("w"):  # 前进
                send_command("A", DIRECTION["FORWARD"], PWM)  # 左前轮
                send_command("B", DIRECTION["FORWARD"], PWM)  # 右前轮
                send_command("C", DIRECTION["FORWARD"], PWM)  # 左后轮
                send_command("D", DIRECTION["FORWARD"], PWM)  # 右后轮

            elif keyboard.is_pressed("s"):  # 后退
                send_command("A", DIRECTION["BACKWARD"], PWM)  # 左前轮
                send_command("B", DIRECTION["BACKWARD"], PWM)  # 右前轮
                send_command("C", DIRECTION["BACKWARD"], PWM)  # 左后轮
                send_command("D", DIRECTION["BACKWARD"], PWM)  # 右后轮

            elif keyboard.is_pressed("a"):  # 左转
                send_command("A", DIRECTION["BACKWARD"], PWM)  # 左前轮
                send_command("B", DIRECTION["FORWARD"], PWM)  # 右前轮
                send_command("C", DIRECTION["BACKWARD"], PWM)  # 左后轮
                send_command("D", DIRECTION["FORWARD"], PWM)  # 右后轮

            elif keyboard.is_pressed("d"):  # 右转
                send_command("A", DIRECTION["FORWARD"], PWM)  # 左前轮
                send_command("B", DIRECTION["BACKWARD"], PWM)  # 右前轮
                send_command("C", DIRECTION["FORWARD"], PWM)  # 左后轮
                send_command("D", DIRECTION["BACKWARD"], PWM)  # 右后轮

            elif keyboard.is_pressed("q"):  # 停止
                stop_all_motors()
                time.sleep(0.2)

            elif keyboard.is_pressed("+"):  # 增加速度
                PWM = min(255, PWM + 10)
                print(f"Speed increased to: {PWM}")
                time.sleep(0.2)

            elif keyboard.is_pressed("-"):  # 减小速度
                PWM = max(0, PWM - 10)
                print(f"Speed decreased to: {PWM}")
                time.sleep(0.2)

            time.sleep(0.1)  # 防止过度占用 CPU

    except KeyboardInterrupt:
        print("Program terminated.")
        stop_all_motors()

if __name__ == "__main__":
    control_car()

License

本文采用 署名-非商业性使用-相同方式共享 4.0 国际 许可协议，转载请注明出处。