三个循迹传感器的循迹小车代码

创建一个基于三个循迹传感器的小车循迹控制代码通常涉及到硬件连接、数据处理和PID（比例积分微分）控制器的应用。这里是一个简单的Python伪代码示例，用于概述基本流程：

import time
from pid import PID

class TracerCar:
    def __init__(self, left_encoder, right_encoder):
        self.left_encoder = left_encoder
        self.right_encoder = right_encoder
        self.pid_left = PID(Kp=0.5, Ki=0.1, Kd=0.01)
        self.pid_right = PID(Kp=0.5, Ki=0.1, Kd=0.01)

    def read_encoders(self):
        left_distance = self.left_encoder.read()
        right_distance = self.right_encoder.read()
        return left_distance, right_distance

    def calculate_steering(self, target_speed, current_distances):
        error = target_speed - (left_distance + right_distance) / 2
        steering_angle = self.pid_left.error(error)
        # 如果左右两侧距离过大，修正转向
        if abs(error) > threshold:
            steering_angle *= max(min(abs(error), correction_factor), -correction_factor)
        return steering_angle

    def move(self, speed, steering_angle):
        # 控制轮子的速度，假设轮子直接驱动
        left_speed = speed * (1 + steering_angle)
        right_speed = speed * (1 - steering_angle)
        # 更新编码器并控制电机
        self.update_motors(left_speed, right_speed)

def main():
    car = TracerCar(left_encoder, right_encoder)
    target_speed = 50
    while True:
        left_distance, right_distance = car.read_encoders()
        steering_angle = car.calculate_steering(target_speed, (left_distance, right_distance))
        car.move(target_speed, steering_angle)
        time.sleep(0.01)  # 控制更新频率

if __name__ == "__main__":
    main()

这个代码中，`left_encoder` 和 `right_encoder` 需要用实际的编码器设备替换，并且可能会需要调整PID控制器的相关参数（Kp、Ki、Kd）。