树莓派小车红外遥控加超声波避障

树莓派小车的红外遥控和超声波避障可以通过编写代码来实现。下面是一个简单的示例代码，可以通过红外遥控控制小车的前进、后退、左转和右转，并使用超声波传感器避开障碍物。

import RPi.GPIO as GPIO
import time

# 设置红外遥控引脚
ir_pin = 18

# 设置超声波引脚
trig_pin = 16
echo_pin = 12

# 设置小车电机引脚
motor_left_pin1 = 7
motor_left_pin2 = 11
motor_right_pin1 = 13
motor_right_pin2 = 15

# 初始化GPIO
GPIO.setmode(GPIO.BOARD)
GPIO.setup(ir_pin, GPIO.IN)
GPIO.setup(trig_pin, GPIO.OUT)
GPIO.setup(echo_pin, GPIO.IN)
GPIO.setup(motor_left_pin1, GPIO.OUT)
GPIO.setup(motor_left_pin2, GPIO.OUT)
GPIO.setup(motor_right_pin1, GPIO.OUT)
GPIO.setup(motor_right_pin2, GPIO.OUT)

# 定义小车运动函数
def move_forward():
    GPIO.output(motor_left_pin1, GPIO.HIGH)
    GPIO.output(motor_left_pin2, GPIO.LOW)
    GPIO.output(motor_right_pin1, GPIO.HIGH)
    GPIO.output(motor_right_pin2, GPIO.LOW)

def move_backward():
    GPIO.output(motor_left_pin1, GPIO.LOW)
    GPIO.output(motor_left_pin2, GPIO.HIGH)
    GPIO.output(motor_right_pin1, GPIO.LOW)
    GPIO.output(motor_right_pin2, GPIO.HIGH)

def move_left():
    GPIO.output(motor_left_pin1, GPIO.LOW)
    GPIO.output(motor_left_pin2, GPIO.HIGH)
    GPIO.output(motor_right_pin1, GPIO.HIGH)
    GPIO.output(motor_right_pin2, GPIO.LOW)

def move_right():
    GPIO.output(motor_left_pin1, GPIO.HIGH)
    GPIO.output(motor_left_pin2, GPIO.LOW)
    GPIO.output(motor_right_pin1, GPIO.LOW)
    GPIO.output(motor_right_pin2, GPIO.HIGH)

def stop():
    GPIO.output(motor_left_pin1, GPIO.LOW)
    GPIO.output(motor_left_pin2, GPIO.LOW)
    GPIO.output(motor_right_pin1, GPIO.LOW)
    GPIO.output(motor_right_pin2, GPIO.LOW)

# 定义超声波避障函数
def obstacle_avoidance():
    GPIO.output(trig_pin, GPIO.HIGH)
    time.sleep(0.00001)
    GPIO.output(trig_pin, GPIO.LOW)

    while GPIO.input(echo_pin) == 0:
        pulse_start = time.time()
    
    while GPIO.input(echo_pin) == 1:
        pulse_end = time.time()

    pulse_duration = pulse_end - pulse_start
    distance = pulse_duration * 17150
    distance = round(distance, 2)

    if distance < 20:
        stop()
    else:
        move_forward()

# 定义红外遥控函数
def ir_control():
    ir_value = GPIO.input(ir_pin)

    if ir_value == 0:
        move_forward()
    elif ir_value == 1:
        move_backward()
    elif ir_value == 2:
        move_left()
    elif ir_value == 3:
        move_right()
    else:
        stop()

# 主循环
while True:
    ir_control()
    obstacle_avoidance()

以上代码只是一个简单的示例，实际应用中需要根据具体情况进行修改和优化。