python怎么控制麦克纳姆轮移动（要包含完整的python代码）

以下是一个基本的麦克纳姆轮移动控制示例代码：

from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor

# 创建一个MotorHAT对象
mh = Adafruit_MotorHAT(addr=0x60)

# 设置电机ID
motor_FL = mh.getMotor(1)   # 前左轮
motor_FR = mh.getMotor(2)   # 前右轮
motor_BL = mh.getMotor(3)   # 后左轮
motor_BR = mh.getMotor(4)   # 后右轮

# 设置最大速度（0-255）
MAX_SPEED = 150

# 定义4种运动方向
STOP = "stop"
FORWARD = "forward"
BACKWARD = "backward"
LEFT = "left"
RIGHT = "right"

# 定义计算速度的函数（角度、速度）
def calculate_speed(angle, speed):
    radians = angle * 3.14 / 180   # 将角度转换为弧度
    v_x = speed * math.cos(radians)
    v_y = speed * math.sin(radians)
    v1 = v_x - v_y
    v2 = v_x + v_y
    v3 = -v_x + v_y
    v4 = -v_x - v_y
    return v1, v2, v3, v4

# 运动控制函数
def move(direction, speed=MAX_SPEED):
    if direction == STOP:
        motor_FL.run(Adafruit_MotorHAT.RELEASE)
        motor_FR.run(Adafruit_MotorHAT.RELEASE)
        motor_BL.run(Adafruit_MotorHAT.RELEASE)
        motor_BR.run(Adafruit_MotorHAT.RELEASE)

    elif direction == FORWARD:
        v1, v2, v3, v4 = calculate_speed(0, speed)
        motor_FL.run(Adafruit_MotorHAT.FORWARD)
        motor_FL.setSpeed(abs(v1))
        motor_FR.run(Adafruit_MotorHAT.FORWARD)
        motor_FR.setSpeed(abs(v2))
        motor_BL.run(Adafruit_MotorHAT.FORWARD)
        motor_BL.setSpeed(abs(v3))
        motor_BR.run(Adafruit_MotorHAT.FORWARD)
        motor_BR.setSpeed(abs(v4))

    elif direction == BACKWARD:
        v1, v2, v3, v4 = calculate_speed(180, speed)
        motor_FL.run(Adafruit_MotorHAT.BACKWARD)
        motor_FL.setSpeed(abs(v1))
        motor_FR.run(Adafruit_MotorHAT.BACKWARD)
        motor_FR.setSpeed(abs(v2))
        motor_BL.run(Adafruit_MotorHAT.BACKWARD)
        motor_BL.setSpeed(abs(v3))
        motor_BR.run(Adafruit_MotorHAT.BACKWARD)
        motor_BR.setSpeed(abs(v4))

    elif direction == LEFT:
        v1, v2, v3, v4 = calculate_speed(270, speed)
        motor_FL.run(Adafruit_MotorHAT.BACKWARD)
        motor_FL.setSpeed(abs(v1))
        motor_FR.run(Adafruit_MotorHAT.FORWARD)
        motor_FR.setSpeed(abs(v2))
        motor_BL.run(Adafruit_MotorHAT.FORWARD)
        motor_BL.setSpeed(abs(v3))
        motor_BR.run(Adafruit_MotorHAT.BACKWARD)
        motor_BR.setSpeed(abs(v4))

    elif direction == RIGHT:
        v1, v2, v3, v4 = calculate_speed(90, speed)
        motor_FL.run(Adafruit_MotorHAT.FORWARD)
        motor_FL.setSpeed(abs(v1))
        motor_FR.run(Adafruit_MotorHAT.BACKWARD)
        motor_FR.setSpeed(abs(v2))
        motor_BL.run(Adafruit_MotorHAT.BACKWARD)
        motor_BL.setSpeed(abs(v3))
        motor_BR.run(Adafruit_MotorHAT.FORWARD)
        motor_BR.setSpeed(abs(v4))

# 停止电机
move(STOP)

注意：这是一个基本示例，并不包含所有的控制细节。在使用此代码时请务必小心以避免伤害自己或其他人。