4WD树莓派小车倒车入库代码

四轮驱动（4WD）树莓派小车倒车入库的代码通常是基于Python或C++等语言编写的，因为它利用了树莓派的GPIO接口以及可能的电机控制库如RPi.GPIO或pigpio。以下是一个简化的概念框架，但请注意实际编写会涉及到硬件连接、传感器数据处理和PID（比例积分微分）控制算法：

import RPi.GPIO as GPIO
from time import sleep

# 初始化GPIO
GPIO.setmode(GPIO.BCM)
motors = [17, 18, 27, 22] # 假设四个电机分别连接到这些GPIO引脚
GPIO.setup(motors, GPIO.OUT)

def forward(speed):
    for motor in motors:
        GPIO.output(motor, True)
        GPIO.output(motor + 2, False)
        GPIO.output(motor + 3, speed)

def backward(speed):
    for motor in motors:
        GPIO.output(motor, False)
        GPIO.output(motor + 2, True)
        GPIO.output(motor + 3, speed)

def turn_left(speed):
    left_speed = speed - (speed * 0.1) # 减速转向
    right_speed = speed + (speed * 0.1)
    ...

def turn_right(speed):
    left_speed = speed + (speed * 0.1)
    right_speed = speed - (speed * 0.1)
    ...

# 倒车入库过程示例
def reverse_parking():
    start_distance = get_distance() # 获取当前距离传感器值
    while start_distance > desired_distance:
        if is_reached_wall(): # 判断是否到达墙壁
            turn_left(0.5) # 转向并减速
        else:
            backward(0.5) # 向后退
        new_distance = get_distance()
        if new_distance < start_distance: # 如果有进展，更新起始距离
            start_distance = new_distance
    stop_motors()

# 实际应用中你需要添加错误处理和循环控制