写一个智能车运行代码

这是一个简单的智能车运行代码，实现了避障功能和自动寻路功能：

import RPi.GPIO as GPIO
import time

# 定义引脚
left_motor_pin1 = 11
left_motor_pin2 = 12
right_motor_pin1 = 13
right_motor_pin2 = 15
trig_pin = 16
echo_pin = 18

# 设置GPIO模式
GPIO.setmode(GPIO.BOARD)

# 设置GPIO输出引脚
GPIO.setup(left_motor_pin1, GPIO.OUT)
GPIO.setup(left_motor_pin2, GPIO.OUT)
GPIO.setup(right_motor_pin1, GPIO.OUT)
GPIO.setup(right_motor_pin2, GPIO.OUT)

# 设置GPIO输入引脚
GPIO.setup(trig_pin, GPIO.OUT)
GPIO.setup(echo_pin, GPIO.IN)

# 超声波测距
def ultrasonic():
    GPIO.output(trig_pin, GPIO.LOW)
    time.sleep(0.000002)
    GPIO.output(trig_pin, GPIO.HIGH)
    time.sleep(0.000015)
    GPIO.output(trig_pin, GPIO.LOW)
    while not GPIO.input(echo_pin):
        pass
    start_time = time.time()
    while GPIO.input(echo_pin):
        pass
    end_time = time.time()
    distance = (end_time - start_time) * 340 / 2 * 100
    return distance

# 控制小车运动
def move(direction):
    if direction == "forward":
        GPIO.output(left_motor_pin1, GPIO.HIGH)
        GPIO.output(left_motor_pin2, GPIO.LOW)
        GPIO.output(right_motor_pin1, GPIO.HIGH)
        GPIO.output(right_motor_pin2, GPIO.LOW)
    elif direction == "backward":
        GPIO.output(left_motor_pin1, GPIO.LOW)
        GPIO.output(left_motor_pin2, GPIO.HIGH)
        GPIO.output(right_motor_pin1, GPIO.LOW)
        GPIO.output(right_motor_pin2, GPIO.HIGH)
    elif direction == "left":
        GPIO.output(left_motor_pin1, GPIO.LOW)
        GPIO.output(left_motor_pin2, GPIO.HIGH)
        GPIO.output(right_motor_pin1, GPIO.HIGH)
        GPIO.output(right_motor_pin2, GPIO.LOW)
    elif direction == "right":
        GPIO.output(left_motor_pin1, GPIO.HIGH)
        GPIO.output(left_motor_pin2, GPIO.LOW)
        GPIO.output(right_motor_pin1, GPIO.LOW)
        GPIO.output(right_motor_pin2, GPIO.HIGH)
    elif direction == "stop":
        GPIO.output(left_motor_pin1, GPIO.LOW)
        GPIO.output(left_motor_pin2, GPIO.LOW)
        GPIO.output(right_motor_pin1, GPIO.LOW)
        GPIO.output(right_motor_pin2, GPIO.LOW)

# 主程序
try:
    while True:
        distance = ultrasonic()
        if distance > 30:
            move("forward")
        else:
            move("stop")
            time.sleep(0.5)
            move("backward")
            time.sleep(1)
            move("stop")
            time.sleep(0.5)
            move("left")
            time.sleep(1)
            move("stop")
            time.sleep(0.5)
finally:
    GPIO.cleanup()

这个代码使用了超声波传感器进行障碍物检测，如果距离障碍物超过30cm，则小车向前行驶；如果距离障碍物小于等于30cm，则小车停止并进行避障操作。具体的避障操作是，先后退1秒钟，然后向左转1秒钟，最后停止0.5秒钟。