麦轮小车前进后退红外寻迹超声波避障代码

麦轮小车的前进后退红外寻迹和超声波避障通常涉及到硬件控制、传感器读取和程序逻辑。这里是一个简化的代码框架，使用Python或类似语言来说明基本流程：

import RPi.GPIO as GPIO
import time
import ultrasonic
import ir_tracker

# 初始化GPIO和传感器
GPIO.setmode(GPIO.BCM)
ir_left = 17
ir_right = 27
trig_left, echo_left = 18, 22
trig_right, echo_right = 23, 24
sonar_left, sonar_right = 10, 9

GPIO.setup(ir_left, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(ir_right, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(trig_left, GPIO.OUT)
GPIO.setup(echo_left, GPIO.IN)
GPIO.setup(trig_right, GPIO.OUT)
GPIO.setup(echo_right, GPIO.IN)

ultrasonic.init(sonar_left, sonar_right)
ir_tracker.init(ir_left, ir_right)

def forward(speed):
    # 前进逻辑，可能包括调整电机速度
    GPIO.output(trig_left, True)
    time.sleep(0.00001)
    GPIO.output(trig_left, False)
    distance_left = ultrasonic.read_distance(sonar_left)
    while distance_left < IR_THRESHOLD:  # 红外寻迹调整方向
        ir_direction = ir_tracker.read_direction()
        if ir_direction == 'right':
            break
        else:
            # 左转
            # ...
    GPIO.output(trig_right, True)
    time.sleep(0.00001)
    GPIO.output(trig_right, False)
    distance_right = ultrasonic.read_distance(sonar_right)

def backward(speed):
    # 后退逻辑，同理调整电机速度
    # ...

def stop():
    GPIO.output(trig_left, GPIO.LOW)
    GPIO.output(trig_right, GPIO.LOW)

# 主循环
while True:
    user_input = get_user_command()  # 获取用户命令，如'forward', 'backward', 'stop'
    if user_input == 'forward':
        forward(50)  # 示例速度为50%
    elif user_input == 'backward':
        backward(50)
    elif user_input == 'stop':
        stop()
    else:
        print("未知命令")

# 清理GPIO资源
GPIO.cleanup()