麦克纳姆轮小车

案例介绍

组装

实现功能

1. 前进和后退

2. 向左平移和向右平移

3. 左前方平移和右前方平移

4. 左后方平移和右后方平移

5. 顺时针旋转和逆时针旋转

参考代码

1. 下位机

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# -*- coding:utf-8 -*-
import RPi.GPIO as GPIO
import socket
import time
# import string
# import threading

# 小车状态值定义
STATE_STOP = 0;

STATE_FORWORD = 1;
STATE_BACK = 2;

STATE_LEFT = 3;
STATE_RIGHT = 4;

STATE_LEFT_FRONT = 5;
STATE_RIGHT_FRONT = 6;

STATE_LEFT_BACK = 7;
STATE_RIGHT_BACK = 8;

STATE_CLOCKWISE = 9;
STATE_COUNTERCLOCKWISE = 10;

STATE_TEST = 11;





# 小车点击引脚定义; 小车电机按照顺时针方向 1,2,3,4 排列
# 左前方 白紫蓝
MOTOR_LEFT_FRONT_A = 22
MOTOR_LEFT_FRONT_B = 27
MOTOR_LEFT_FRONT_PWM = 17

# 右前方 绿黄橙
MOTOR_RIGHT_FRONT_A =  5
MOTOR_RIGHT_FRONT_B = 6
MOTOR_RIGHT_FRONT_PWM = 13


# 右后方 绿黄橙
MOTOR_RIGHT_BACK_A =  12
MOTOR_RIGHT_BACK_B = 16
MOTOR_RIGHT_BACK_PWM = 20

# 左后方 白紫蓝
MOTOR_LEFT_BACK_A = 19
MOTOR_LEFT_BACK_B = 26
MOTOR_LEFT_BACK_PWM = 21

# 设置GPIO口为BCM编码方式
GPIO.setmode(GPIO.BCM)

# 忽略警告信息
GPIO.setwarnings(False)


class Motor:

    """电机对象"""
    def __init__(self,motorA,motorB,motorPwm):
        self.motorA = motorA;
        self.motorB = motorB;
        self.motorPwm = motorPwm;

        self.pwm = None;

        self.init_motor()

        # 小车速度变量
        self.carSpeed = 50

    def init_motor(self):
        GPIO.setup(self.motorA, GPIO.OUT, initial=GPIO.LOW)
        GPIO.setup(self.motorB, GPIO.OUT, initial=GPIO.LOW)

        GPIO.setup(self.motorPwm, GPIO.OUT, initial=GPIO.HIGH)
        self.pwm = GPIO.PWM(self.motorPwm, 2000)
        self.pwm.start(0)

    def forward(self,value=0):
        GPIO.setup(self.motorA, GPIO.OUT, initial=GPIO.HIGH)
        GPIO.setup(self.motorB, GPIO.OUT, initial=GPIO.LOW)
        self.pwm.ChangeDutyCycle(self.carSpeed)

    def back(self,value=0):
        GPIO.setup(self.motorA, GPIO.OUT, initial=GPIO.LOW)
        GPIO.setup(self.motorB, GPIO.OUT, initial=GPIO.HIGH)
        self.pwm.ChangeDutyCycle(self.carSpeed)

    def stop(self):
        GPIO.setup(self.motorA, GPIO.OUT, initial=GPIO.LOW)
        GPIO.setup(self.motorB, GPIO.OUT, initial=GPIO.LOW)
        self.pwm.ChangeDutyCycle(0)




class HeiCar:
    def __init__(self):

        self.currentState = 0;

        # 按照顺时针的方向
        # 左前方
        self.motor1 = Motor(MOTOR_LEFT_FRONT_A, MOTOR_LEFT_FRONT_B, MOTOR_LEFT_FRONT_PWM)
        # 右前方
        self.motor2 = Motor(MOTOR_RIGHT_FRONT_A, MOTOR_RIGHT_FRONT_B, MOTOR_RIGHT_FRONT_PWM)
        # 右后方
        self.motor3 = Motor(MOTOR_RIGHT_BACK_A, MOTOR_RIGHT_BACK_B, MOTOR_RIGHT_BACK_PWM);
        # 左后方
        self.motor4 = Motor(MOTOR_LEFT_BACK_A, MOTOR_LEFT_BACK_B, MOTOR_LEFT_BACK_PWM);

        self.motors = [self.motor1,self.motor2,self.motor3,self.motor4];

    def forword(self):
        """ 小车前进"""
        for motor in self.motors:
            motor.forward();

    def back(self):
        """小车后退"""
        for motor in self.motors:
            motor.back();

    def stop(self):
        """停止"""
        for motor in self.motors:
            motor.stop();

    def left(self):
        """
         小车向左边 横着走
        """
        self.motor1.back()
        self.motor4.forward();

        self.motor2.forward()
        self.motor3.back()


    def right(self):
        """ 小车向右边 横着走"""
        self.motor1.forward()
        self.motor4.back()

        self.motor2.back()
        self.motor3.forward()


    def left_front(self):
        """ 向左前方 45度 """
        self.motor1.stop()
        self.motor4.forward()

        self.motor2.forward()
        self.motor3.stop()

    def right_front(self):
        """ 向右前方 45度 """
        self.motor1.forward()
        self.motor4.stop()

        self.motor2.stop()
        self.motor3.forward()

    def left_back(self):
        """ 向左后45 度"""
        self.motor1.back()
        self.motor4.stop()

        self.motor2.stop()
        self.motor3.back()

    def right_back(self):
        """ 右后 45 度"""
        self.motor1.stop()
        self.motor4.back()

        self.motor2.back()
        self.motor3.stop()

    def clockwise(self):
        """ 顺时针"""
        self.motor1.forward()
        self.motor4.forward()

        self.motor2.back()
        self.motor3.back()

    def counterclockwise(self):
        """ 逆时针 """
        self.motor1.back()
        self.motor4.back()

        self.motor2.forward()
        self.motor3.forward()



try:
    car = HeiCar();

    global connectflag
    connectflag = 0

    count = 50
    # 通过socket创建监听套接字并设置为非阻塞模式
    tcpservicesock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    tcpservicesock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
    tcpservicesock.setblocking(0)
    # 填充绑定服务器的ip地址和端口号
    # 注意：这里一定要根据自己的树莓派的ip地址来填
    tcpservicesock.bind(('192.168.12.1', 8888))
    # 监听客户端的连接
    tcpservicesock.listen(5)
    print("waiting for connection....")
    # 创建监听列表
    clientAddrList = []

    print("服务器已经开启啦!")
    while True:
        try:
            # 准备接受客户端的连接并返回连接套接字
            tcpclientsock, addr = tcpservicesock.accept()
            if tcpclientsock:
                connectflag = 1
            print("连接客户端成功啦!")
        except:
            pass
        else:
            # print("new user :%s " % str(addr))
            # 设置连接套接字为非阻塞的模式并将连接的套接字放入到监听列表中
            tcpclientsock.setblocking(0)
            clientAddrList.append((tcpclientsock, addr))

        for tcpclientsock, addr in clientAddrList:
            try:
                global recvbuf
                global sendbuf
                recvbuf = ''
                # TCP接受数据
                # print("Start recv!",addr)
                recvbuf = tcpclientsock.recv(128)
                # print("Start recv over!")
            except:
                pass
            else:
                if len(recvbuf) > 0:
                    # print("recvbuf", recvbuf)
                    state = int(recvbuf);
                    car.currentState = state;
                    # 根据解析的数据让小车做出相应的运动
                    if state == STATE_STOP:
                        print("=====停止1=====")
                        car.stop()
                    elif state == STATE_FORWORD:
                        print("=====前进=====")
                        car.forword()
                    elif state == STATE_BACK:
                        print("=====后退=====")
                        car.back()
                    elif state == STATE_LEFT:
                        print("=====左移=====")
                        car.left()
                    elif state == STATE_RIGHT:
                        print("=====右移=====")
                        car.right()
                    elif state == STATE_LEFT_FRONT:
                        print("=====左前方=====")
                        car.left_front()
                    elif state == STATE_RIGHT_FRONT:
                        print("=====右前方=====")
                        car.right_front()
                    elif state == STATE_LEFT_BACK:
                        print("=====左后方=====")
                        car.left_back()
                    elif state == STATE_RIGHT_BACK:
                        print("=====右后方=====")
                        car.right_back()
                    elif state == STATE_CLOCKWISE:
                        print("=====顺时针=====")
                        car.clockwise()
                    elif state == STATE_COUNTERCLOCKWISE:
                        print("=====逆时针=====")
                        car.counterclockwise()
                    elif state == STATE_TEST:
                        car.forword()
                        time.sleep(0.5)
                        car.stop()
                        time.sleep(0.5)
                        car.back()

                        time.sleep(0.5)
                        car.stop()

                        car.left()
                        time.sleep(0.5)
                        car.stop()
                        time.sleep(0.5)
                        car.right()
                        time.sleep(0.5)
                        car.stop()
                        time.sleep(0.5)

                        car.left_front()
                        time.sleep(0.5)
                        car.stop()
                        time.sleep(0.5)
                        car.right_back()

                        time.sleep(0.5)
                        car.stop()
                        time.sleep(0.5)

                        car.right_front()
                        time.sleep(0.5)
                        car.stop()
                        time.sleep(0.5)
                        car.left_back()

                        time.sleep(0.5)
                        car.stop()
                        time.sleep(0.5)
                        car.clockwise()
                        time.sleep(0.5)
                        car.stop()
                        time.sleep(0.5)
                        car.counterclockwise()
                        time.sleep(0.5)
                    else:
                        print("=====停止2=====")
                        car.stop()
                    # 让小车运动0.5s 即停止
                    time.sleep(0.5)
                    car.stop()
                    time.sleep(0.5)

                else:
                    tcpclientsock.close()
                    clientAddrList.remove((tcpclientsock, addr))
                    car.stop()

except KeyboardInterrupt:
    pass
tcpclientsock.close()
tcpservicesock.close()
GPIO.cleanup()

2. 上位机

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from PyQt5.QtWidgets import QApplication,QWidget,QPushButton,QVBoxLayout,QHBoxLayout
import sys
from socket import *
# import threading


address = "192.168.12.1"
port = 8888
server_socket=""

def connectCar():
    global server_socket
    server_socket = socket(AF_INET, SOCK_STREAM)
    server_socket.connect((address, port))
    print("连接服务端成功啦!")


#小车状态值定义
STATE_STOP = 0;

STATE_FORWORD = 1;
STATE_BACK = 2;

STATE_LEFT = 3;
STATE_RIGHT = 4;

STATE_LEFT_FRONT = 5;
STATE_RIGHT_FRONT = 6;

STATE_LEFT_BACK = 7;
STATE_RIGHT_BACK = 8;

STATE_CLOCKWISE = 9;
STATE_COUNTERCLOCKWISE = 10;
STATE_TEST = 11


def controlCallback(val):
    print("发送数据",val)
    server_socket.send(str(val).encode())
    print("发送成功!")


if __name__ == '__main__':
    # 创建核心类
    app = QApplication(sys.argv)

    # 创建窗口
    widget = QWidget()
    widget.resize(200,400)

    # 创建垂直布局
    vbox = QVBoxLayout(widget)


    # 创建水平布局
    hbox0 = QHBoxLayout()
    hbox1 = QHBoxLayout()
    hbox2 = QHBoxLayout()
    hbox3 = QHBoxLayout()
    hbox4 = QHBoxLayout()
    hbox5 = QHBoxLayout()
    hbox6 = QHBoxLayout()
    hbox7 = QHBoxLayout()
    hbox8 = QHBoxLayout()
    hbox9 = QHBoxLayout()

    vbox.addLayout(hbox0)
    vbox.addLayout(hbox1)
    vbox.addLayout(hbox2)
    vbox.addLayout(hbox3)
    vbox.addLayout(hbox4)
    vbox.addLayout(hbox5)
    vbox.addLayout(hbox6)
    vbox.addLayout(hbox7)
    vbox.addLayout(hbox8)
    vbox.addLayout(hbox9)

# --------------------------------------------------------------------------------
    leftBtn = QPushButton("必须要先连接服务端")
    hbox0.addWidget(leftBtn)
    leftBtn.clicked.connect(lambda : connectCar())

# --------------------------------------------------------------------------------
    # 创建按钮
    leftForwardBtn = QPushButton("左前")
    hbox1.addWidget(leftForwardBtn)
    leftForwardBtn.clicked.connect(lambda :controlCallback(STATE_LEFT_FRONT))

    # 创建按钮
    forwordBtn = QPushButton("前进")
    hbox1.addWidget(forwordBtn)
    forwordBtn.clicked.connect(lambda :controlCallback(STATE_FORWORD))

    # 创建按钮
    rightForwardBtn = QPushButton("右前")
    hbox1.addWidget(rightForwardBtn)
    rightForwardBtn.clicked.connect(lambda :controlCallback(STATE_RIGHT_FRONT))

# --------------------------------------------------------------------------------
    # 创建按钮
    leftBtn = QPushButton("左移")
    hbox2.addWidget(leftBtn)
    leftBtn.clicked.connect(lambda :controlCallback(STATE_LEFT))

    # 创建按钮
    stopBtn = QPushButton("停止")
    hbox2.addWidget(stopBtn)
    stopBtn.clicked.connect(lambda :controlCallback(STATE_STOP))

    # 创建按钮
    rightBtn = QPushButton("右移")
    hbox2.addWidget(rightBtn)
    rightBtn.clicked.connect(lambda :controlCallback(STATE_RIGHT))

# --------------------------------------------------------------------------------
    # 创建按钮
    leftBackBtn = QPushButton("左后")
    hbox3.addWidget(leftBackBtn)
    leftBackBtn.clicked.connect(lambda :controlCallback(STATE_LEFT_BACK))

    # 创建按钮
    backBtn = QPushButton("后退")
    hbox3.addWidget(backBtn)
    backBtn.clicked.connect(lambda :controlCallback(STATE_BACK))

    # 创建按钮
    rightBackBtn = QPushButton("右后")
    hbox3.addWidget(rightBackBtn)
    rightBackBtn.clicked.connect(lambda :controlCallback(STATE_RIGHT_BACK))

#--------------------------------------------------------------------------------
    # 创建按钮
    counterclockwiseBtn = QPushButton("逆时针旋转")
    hbox4.addWidget(counterclockwiseBtn)
    counterclockwiseBtn.clicked.connect(lambda :controlCallback(STATE_COUNTERCLOCKWISE))

    # 创建按钮
    clockwiseBtn = QPushButton("顺时针旋转")
    hbox4.addWidget(clockwiseBtn)
    clockwiseBtn.clicked.connect(lambda :controlCallback(STATE_CLOCKWISE))

#--------------------------------------------------------------------------------

    # 创建按钮
    FRBLBtn = QPushButton("测试")
    hbox5.addWidget(FRBLBtn)
    FRBLBtn.clicked.connect(lambda :controlCallback(STATE_TEST))

    widget.show()
    app.exec()

参考

麦克纳姆轮说明https://www.bilibili.com/video/av17229132