Freenove 4WD Smart Car Board for Raspberry Pi User Manual

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89
Chapter 6 Infrared Line Tracking Car
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The code is as below:
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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)

Freenove 4WD Smart Car Board for Raspberry Pi Specifications

General

Brand	Freenove
Model	4WD Smart Car Board for Raspberry Pi
Category	Microcontrollers
Language	English