python写一个单片机竞速迷宫小车的代码

编写Python控制单片机竞速迷宫小车的代码通常涉及硬件交互、传感器读取以及路径决策算法。这里假设我们使用的是Raspberry Pi作为主控，并通过GPIO模块操控马达，同时使用超声波传感器或红外传感器检测迷宫边界。

import RPi.GPIO as GPIO
import time

# 设置GPIO模式
GPIO.setmode(GPIO.BCM)

# 定义输入和输出引脚
Motor_pins = [18, 22]  # 两个电机驱动引脚，根据实际情况设置
Sensor_pin = 4        # 超声波传感器引脚
ENA_PIN = 5           # ENA引脚用于启用电机
IN1_PIN = 6           # IN1引脚用于控制电机方向

# 初始化GPIO
for pin in Motor_pins + [ENA_PIN, IN1_PIN]:
    GPIO.setup(pin, GPIO.OUT)

def forward(speed):
    GPIO.output(ENA_PIN, True)
    GPIO.output(IN1_PIN, False)
    GPIO.output(Motor_pins[0], not speed)
    GPIO.output(Motor_pins[1], speed)

def backward(speed):
    GPIO.output(ENA_PIN, True)
    GPIO.output(IN1_PIN, True)
    GPIO.output(Motor_pins[0], speed)
    GPIO.output(Motor_pins[1], not speed)

def stop():
    GPIO.output(ENA_PIN, False)

def read_distance():
    GPIO.output(Sensor_pin, GPIO.LOW)  # 发出脉冲
    time.sleep(0.00001)
    GPIO.output(Sensor_pin, GPIO.HIGH)
    start_time = time.time()
    while GPIO.input(Sensor_pin) == GPIO.LOW:
        pass
    received_time = time.time() - start_time
    distance = (received_time * 17150) / 2  # 计算距离公式
    return distance

def navigate_maze():
    forward_speed = 0.5  # 马达速度
    min_distance = 50   # 边界安全距离
    while True:
        distance = read_distance()
        if distance < min_distance:
            print(f"前方障碍，距离{distance}mm")
            turn_left(forward_speed)  # 左转避免障碍
        else:
            continue_navigating(forward_speed)  # 继续前行

def turn_left(speed):
    for _ in range(3):  # 可能需要多次调整角度，实际应用中可能需更复杂算法
        forward(-speed)
        time.sleep(0.5)
        stop()

def continue_navigating(speed):
    # 这里可以添加简单的前进、右转等逻辑，比如判断下一个节点
    # 然后更新前进方向和速度
    ...

try:
    navigate_maze()
except KeyboardInterrupt:
    print("接收中断，清理GPIO...")
finally:
    GPIO.cleanup()  # 释放所有GPIO资源