用python实现五路循迹小车代码

在Python中实现一个五路循迹小车的代码通常涉及到硬件控制、传感器读取以及基于PID控制器或者状态机的路径规划。这里提供一个简单的框架示例，假设我们已经有一个基本的GPIO库来控制电机，并且有五个红外传感器用于检测前方道路情况：

import RPi.GPIO as GPIO
import time

# 设置GPIO引脚
LEFT_MOTOR_PINS = [17, 18] # 左侧两个电机
RIGHT_MOTOR_PINS = [22, 23] # 右侧两个电机
INFRARED_SENSORS = [4, 15, 16, 19, 26] # 五个红外传感器

# 初始化GPIO
def setup():
    GPIO.setmode(GPIO.BCM)
    GPIO.setup(LEFT_MOTOR_PINS, GPIO.OUT)
    GPIO.setup(RIGHT_MOTOR_PINS, GPIO.OUT)
    for sensor in INFRARED_SENSORS:
        GPIO.setup(sensor, GPIO.IN)

# 更新红外传感器值并返回最短距离
def read_distance(sensors):
    distances = [GPIO.input(sensor) for sensor in sensors]
    return min(distances)

# PID控制器示例（仅供参考，实际应用可能更复杂）
def pid_control(speed, distance, kp=1, ki=0.1, kd=0.01):
    error = speed - distance
    integral += error * dt
    derivative = (error - prev_error) / dt
    output = kp * error + ki * integral + kd * derivative
    return output

# 主循环
def drive(car_speed, track_width):
    left_speed, right_speed = car_speed, car_speed
    distance = read_distance(INFRARED_SENSORS)

    # 根据传感器数据调整左右轮速度
    if distance < track_width:
        left_speed -= pid_controller(left_speed, distance)
        right_speed += pid_controller(right_speed, distance)
    else:
        left_speed += pid_controller(left_speed, distance)
        right_speed -= pid_controller(right_speed, distance)

    # 控制电机
    GPIO.output(LEFT_MOTOR_PINS, [True, False] if left_speed > 0 else [False, True])
    GPIO.output(RIGHT_MOTOR_PINS, [True, False] if right_speed > 0 else [False, True])

# 设置全局变量
integral = 0
prev_error = 0
dt = 0.01

if __name__ == "__main__":
    try:
        setup()
        while True:
            drive(50, 20) # 示例速度50，假设轨道宽度20mm
            time.sleep(dt)
    except KeyboardInterrupt:
        GPIO.cleanup()