NAO机器人走黑线的代码

以下是使用Python编写的NAO机器人走黑线的代码：

import time
from naoqi import ALProxy

# 连接到NAO机器人
ip = "NAO_ROBOT_IP"
port = 9559
motion = ALProxy("ALMotion", ip, port)
memory = ALProxy("ALMemory", ip, port)

# 设置机器人走路参数
motion.setWalkTargetVelocity(0.5, 0, 0)
motion.moveInit()

# 设置红外传感器参数
memory.subscribeToEvent("FrontTactilTouched", "BlackLineDetection", "")
memory.subscribeToEvent("MiddleTactilTouched", "BlackLineDetection", "")
memory.subscribeToEvent("RearTactilTouched", "BlackLineDetection", "")
memory.subscribeToEvent("LeftBumperPressed", "BlackLineDetection", "")
memory.subscribeToEvent("RightBumperPressed", "BlackLineDetection", "")

# 检测黑线并调整行走方向
def BlackLineDetection():
    left_ir = memory.getData("Device/SubDeviceList/InfraredSensor/Left/Sensor/Value")
    right_ir = memory.getData("Device/SubDeviceList/InfraredSensor/Right/Sensor/Value")
    middle_ir = memory.getData("Device/SubDeviceList/InfraredSensor/Middle/Sensor/Value")

    if left_ir > 1000 and right_ir > 1000 and middle_ir > 1000:
        motion.setWalkTargetVelocity(0.5, 0, 0)
    elif left_ir < 1000 and right_ir > 1000:
        motion.setWalkTargetVelocity(0.4, 0.2, 0)
    elif left_ir > 1000 and right_ir < 1000:
        motion.setWalkTargetVelocity(0.4, -0.2, 0)
    elif left_ir < 1000 and right_ir < 1000 and middle_ir > 1000:
        motion.setWalkTargetVelocity(0.2, 0, 0)
    else:
        motion.setWalkTargetVelocity(0.0, 0, 0)

# 等待事件发生
while True:
    time.sleep(1)

在这个代码中，机器人使用红外传感器检测黑线，并根据检测结果调整行走方向。当机器人检测到黑线时，会将速度设置为0.5，当机器人检测到左边或右边的红外传感器信号较强时，会将速度设置为0.4并向相应方向转动，当机器人检测到中间的红外传感器信号较强时，会将速度设置为0.2向前走，当机器人没有检测到黑线时，会停止行走。