Freenove 4WD Smart Car Board for Raspberry Pi - Page 93

Need support?  support.freenove.com
89
Chapter 6 Infrared Line Tracking Car
█ www.freenove.com
The code is as below:
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
import time
from Motor import *
import RPi.GPIO as GPIO
IR01 = 14
IR02 = 15
IR03 = 23
GPIO.setmode(GPIO.BCM)
GPIO.setup(IR01,GPIO.IN)
GPIO.setup(IR02,GPIO.IN)
GPIO.setup(IR03,GPIO.IN)
class Line_Tracking:
def run(self):
while True:
self.LMR=0x00
if GPIO.input(IR01)==True:
self.LMR=(self.LMR | 4)
if GPIO.input(IR02)==True:
self.LMR=(self.LMR | 2)
if GPIO.input(IR03)==True:
self.LMR=(self.LMR | 1)
if self.LMR==2:
PWM.setMotorModel(800,800,800,800)
elif self.LMR==4:
PWM.setMotorModel(-1500,-1500,2500,2500)
elif self.LMR==6:
PWM.setMotorModel(-2000,-2000,4000,4000)
elif self.LMR==1:
PWM.setMotorModel(2500,2500,-1500,-1500)
elif self.LMR==3:
PWM.setMotorModel(4000,4000,-2000,-2000)
elif self.LMR==7:
pass
infrared=Line_Tracking()
# Main program logic follows:
if __name__ == '__main__':
print ('Program is starting ... ')
try:
infrared.run()
except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program destroy() will be
executed.
PWM.setMotorModel(0,0,0,0)