⼿机app控制jetsonnano2gb舵机转向c6智能⼩车运动及云台运
动
⼿机app控制jetson nano 2gb舵机转向c6智能⼩车前进、后退、左转、右转；云台摄像头向上、向下、向左、向右
# -*- coding:utf-8 -*-
#导⼊模块
import time
import threading
import z_uart as myUart
import z_socket as mySocket
import rvo_control
#全局变量定义
systick_ms_bak = 0
car_mode = 0
car_mode_bak = 0
pan = 90
tilt = 90
#串⼝检测
def loop_uart():
if myUart.uart_get_ok == 2:
print(myUart.uart_receive_buf)
par_cmd(myUart.uart_receive_buf)
myUart.uart_receive_buf = ''
myUart.uart_get_ok = 0
elif myUart.uart_get_ok == 1 or myUart.uart_get_ok == 3:
酒肉穿肠过
print(myUart.uart_receive_buf)
myUart.uart_nd_str(myUart.uart_receive_buf)
myUart.uart_receive_buf = ''
myUart.uart_get_ok = 0
#⽹络连接服务
def loop_socket():
if mySocket.socket_get_ok:
myUart.uart_get_ok = mySocket.socket_get_ok
myUart.uart_receive_buf = mySocket.socket_receive_buf
mySocket.socket_receive_buf = ''
mySocket.socket_get_ok = 0
#指令解析
def par_cmd(myStr):
global car_mode,car_mode_bak,voice_flag,voice_mode
if myStr.find('$QJ!') >= 0:
car_mode = 1
elif myStr.find('$HT!') >= 0:
car_mode = 2
elif myStr.find('$ZZ!') >= 0:
car_mode = 3
elif myStr.find('$YZ!') >= 0:
car_mode = 4
elif myStr.find('$TZ!') >= 0:
car_mode = 0
elif myStr.find('$CUP!') >= 0:
car_mode = 9
elif myStr.find('$CDOWN') >= 0:
car_mode = 10
elif myStr.find('$CLEFT') >= 0:
car_mode = 11
elif myStr.find('$CRIGHT') >= 0:
早泄的中药car_mode = 12
def loop_car_mode():
global car_mode,car_mode_bak
if car_mode_bak != car_mode:
car_mode_bak = car_mode
if car_mode == 0: # 停车
#myUart.uart_nd_str("#012P1515T1000!")
car_run(0)
elif car_mode == 1: #前进
#myUart.uart_nd_str("#012P1511T1000!")
car_run(250)
elif car_mode == 2: #后退
#myUart.uart_nd_str("#012P1512T1000!")
car_run(-250)
elif car_mode == 3: #left转
#myUart.uart_nd_str("#012P1513T1000!")
car_run(250, 900)
elif car_mode == 4: #right转
#myUart.uart_nd_str("#012P1514T1000!")
car_run(250, 2200)
elif car_mode == 9: #up
camera_up_down(-100)
elif car_mode == 10: #down
camera_up_down(100)
elif car_mode == 11: #left
camera_l_r(100)
elif car_mode == 12: #right
camera_l_r(-100)
'''
函数功能：串⼝发送指令控制电机转动
范围：-1000～+1000
'''
def car_run(speed, pwm_value=1500):
testStr = "{#006P%04dT0000!#007P%04dT0000!#000P%04dT0000!}" % (1500+speed, 1500-speed, pwm_value) print(testStr)
myUart.uart_nd_str(testStr)
#摄像头up down转动
def camera_up_down(speed):
global systick_ms_bak,tilt,pan
if(int((time.time() * 1000))- systick_ms_bak > 20):
systick_ms_bak = int((time.time() * 1000))
tilt = tilt +speed//100
if tilt > 180:
tilt = 180
if tilt < 0:
tilt = 0
rvo_control.rvo_move(0, pan, 1, tilt)
#摄像left right转动
def camera_l_r(speed):
global systick_ms_bak,pan,tilt
if(int((time.time() * 1000))- systick_ms_bak > 20):
systick_ms_bak = int((time.time() * 1000))
pan = pan + speed//100
if pan > 180:
pan = 180
if pan < 0:
pan = 0
rvo_control.rvo_move(0, pan, 1, tilt)
#⼤循环
if__name__ == '__main__':
time.sleep(5)
myUart.tup_uart(115200) #设置串⼝
mySocket.tup_socket(1314)
单位公函rvo_control.rvo_move(0, pan, 1, tilt)
try:
while True:
loop_uart()
loop_socket()
loop_car_mode()
except KeyboardInterrupt:
exit()
app_control.py
import threading
import socket
socket_port = 1314
socket_get_ok = 0
socket_receive_buf = ""
def socketEvent():
global socket_receive_buf,socket_get_ok, socket_port
rverSocket = socket.socket()
#ip addr cannot conver to str TODO
#hostIP = str(os.popen('ifconfig wlan0 | grep "inet " | awk \'{print $2}\'').read())
hostIP = "192.168.12.1"
print('hostIP:', hostIP)
#data port
dataPort = socket_port
address = (hostIP,dataPort)
rverSocket.bind(address)
rverSocket.listen(5)
print('')
rverConnect,addr = rverSocket.accept()
print('socket connected!')
mode = 0
while True:
data = v(1024))
data = data.split('\'')[1]
if len(data):
print(data)
socket_receive_buf = data
if socket_get_ok == 0:
uart_receive_buf = socket_receive_buf
uart_get_ok = 0
if mode == 0:
if uart_receive_buf.find('{') >= 0:
mode = 1
#print('mode1 start')
elif uart_receive_buf.find('$') >= 0:
mode = 2
#print('mode2 start')
elif uart_receive_buf.find('#') >= 0:
mode = 3
#print('mode3 start')
if mode == 1:
if uart_receive_buf.find('}') >= 0:
uart_get_ok = 1
mode = 0
#print('{}:',uart_receive_buf, " len:", len(uart_receive_buf))
#print('mode1 end')
elif mode == 2:
if uart_receive_buf.find('!') >= 0:
uart_get_ok = 2
mode = 0
#print('$!:',uart_receive_buf, " len:", len(uart_receive_buf))
#print('mode2 end')
elif mode == 3:
if uart_receive_buf.find('!') >= 0:
uart_get_ok = 3
mode = 0
#print('#!:', uart_receive_buf, " len:", len(uart_receive_buf))
#print('mode3 end')
socket_get_ok = uart_get_ok
#print('get2:',uart_receive_buf, " len:", len(uart_receive_buf), " mode:", mode, " getok:", uart_get_ok) el:
print('socket disconnected.')
rverSocket.listen(5)
print('')
rverConnect,addr = rverSocket.accept()
print('socket connected!')
socket_thread = threading.Thread(target=socketEvent)
def tup_socket(port):
global socket_thread, socket_port
socket_port = port
#socket接收线程
socket_thread.start()
def loop_socket():
global socket_get_ok, socket_receive_buf
if socket_get_ok:
print(socket_receive_buf)
socket_get_ok = 0
#⼤循环
if__name__ == '__main__':
tup_socket(2020)
try:
while True:
loop_socket()
except KeyboardInterrupt:
if rverSocket != None:
rverSocket.clo()
z_socket.py
#导包
薛之谦简介import rial
import time
import threading
#全局变量定义
r = ''
uart_baud = 115200
uart_get_ok = 0
uart_receive_buf = ""
uart_receive_buf_index = 0
#发送字符串只需传⼊要发送的字符串即可
def uart_nd_str(string):
global r
r.de("utf-8"))
time.sleep(0.01)
r.flushInput()
#线程调⽤函数，主要处理数据接受格式，主要格式为 $...! #...! {...}三种格式，...内容长度不限
def rialEvent():
global r,uart_receive_buf_index,uart_receive_buf,uart_get_ok
mode = 0
try:
while True:
if uart_get_ok == 0:
uart_receive_buf_index = r.inWaiting()
简笔笑画
if uart_receive_buf_index > 0:
uart_receive_buf = uart_receive_ad(uart_receive_buf_index).decode()
#print('get1:',uart_receive_buf, " len:", len(uart_receive_buf), " mode:", mode)
if mode == 0:
if uart_receive_buf.find('{') >= 0:
mode = 1
#print('mode1 start')
elif uart_receive_buf.find('$') >= 0:
mode = 2
#print('mode2 start')
elif uart_receive_buf.find('#') >= 0:
mode = 3
#print('mode3 start')
if mode == 1:
if uart_receive_buf.find('}') >= 0:
uart_get_ok = 1
mode = 0
r.flushInput()
#print('{}:',uart_receive_buf, " len:", len(uart_receive_buf))
#print('mode1 end')
elif mode == 2:
if uart_receive_buf.find('!') >= 0:
uart_get_ok = 2
mode = 0
r.flushInput()
#print('$!:',uart_receive_buf, " len:", len(uart_receive_buf))
#print('mode2 end')
elif mode == 3:
if uart_receive_buf.find('!') >= 0:
uart_get_ok = 3
mode = 0
r.flushInput()
大鸡吧电影#print('#!:', uart_receive_buf, " len:", len(uart_receive_buf))
#print('mode3 end')
#print('get2:',uart_receive_buf, " len:", len(uart_receive_buf), " mode:", mode, " getok:", uart_get_ok) except IOError:
pass;
#串⼝接收线程
uart_thread = threading.Thread(target=rialEvent)
#串⼝初始化
大学毕业生
def tup_uart(baud):
global r,uart_thread,uart_receive_buf
uart_baud = baud
r = rial.Serial("/dev/ttyTHS1", uart_baud)
r.flushInput()
uart_thread.start()
uart_nd_str("uart init ok!\r\n");
uart_receive_buf = ''
参数方程公式大全
#⼤循环
if__name__ == '__main__':
tup_uart(115200)
#uart_nd_str("#000P1500T1000!");
#uart_nd_str("{#000P1500T1000!#001P1500T1000!}");
try:
while True:
pass
except KeyboardInterrupt:
if r != None:
r.clo()
z_uart.py
import time
import Adafruit_PCA9685
pwm = Adafruit_PCA9685.PCA9685()
pwm.t_pwm_freq(50)
def rvo_move(bachannel,bavalue,tiltchannel,tiltvalue):
bavalue=4096*((bavalue*11)+500)/20000
pwm.t_pwm(bachannel,0,int(bavalue))
tiltvalue=4096*((tiltvalue*11)+500)/20000
pwm.t_pwm(tiltchannel,0,int(tiltvalue))
pan = 90
tilt = 90
rvo_move(0, pan, 1, tilt)
if__name__ == '__main__':
for angle in range(30, 120, 5):
rvo_move(0, angle, 1, angle)
time.sleep(0.5)
rvo_move(0, pan, 1, tilt)
rvo_control.py
⼿机连接⼩车发出的wifi，然后打开app登录，配置按钮指令：
前进：按下发送指令为 $QJ! 松开发送指令为 $TZ!
后退：按下发送指令为 $HT! 松开发送指令为 $TZ!
左转：按下发送指令为 $ZZ! 松开发送指令为 $TZ!
右转：按下发送指令为 $YZ! 松开发送指令为 $TZ!
云台向上：按下发送指令为 $UP! 松开发送指令为 $TZ!
向下：按下发送指令为 $DOWN! 松开发送指令为 $TZ!
向左：按下发送指令为 $LEFT! 松开发送指令为 $TZ!
向右：按下发送指令为 $RIGHT! 松开发送指令为 $TZ!
配置每个按钮按下及松开时要发送的指令
注：app_control.py⽂件中，⼤循环⾥的 time.sleep(5) #延时5秒，使开机⾃启后socket有时间建⽴连接，不然只能看到画⾯，不能控制⼩车开机⾃启动、后台运⾏：
gnome-ssion-properties打开⾃启动管理界⾯，添加⼀条新的⾃启动命令：
nohup python3 /home/dlinano/ZLTech-demo/app/app_control.py &
其中：nohup和&为使其后台运⾏
