期末作业： 已知树莓派4B中，将雨滴传感器、LM393模块、PCF8591模块、RGB-LED灯、双色LED灯、倾斜传感器、循迹传感器、蜂鸣器连接 （1）当雨滴传感器探测板--LM393模块检测到雨滴时，RGB-LED灯闪烁 （2）当倾斜传感器发生倾斜时，双色LED灯闪烁 （3）循迹传感器一直沿着一条白色的线，当出现障碍物时会使蜂鸣器出现频率为0.5s响一次的现象。 （4）将雨滴、倾斜、循迹这三个模块的状态用pygame显示在同一屏幕上，方便检测 连接状态为： 雨滴传感器探测板的两个引脚与LM393模块的一侧连接，LM393模块的DO连接GPIO.6，AO连接PCF8591模块的AIN0 RGB-LED灯中R连接GPIO.12，G连接GPIO.13，B连接GPIO.16 双色LED灯中G连接GPIO.27，R连接GPIO.18 倾斜传感器中DO连接GPIO.17 循迹传感器中DO连接GPIO.23 有源蜂鸣器中I/O口连接GPIO.22 上述已经连好 那么只需写出Python完整代码，将PCF8591与主要代码分开写

好的，以下是树莓派4B的Python完整代码，包括PCF8591模块：

import RPi.GPIO as GPIO
import time
import pygame
from PCF8591 import PCF8591
from RPi import GPIO

# 初始化pygame
pygame.init()

# 设置pygame窗口大小和标题
screen_width = 640
screen_height = 480
screen = pygame.display.set_mode((screen_width, screen_height))
pygame.display.set_caption("Sensor Status")

# 设置PCF8591模块
pcf8591 = PCF8591(0x48)

# 设置GPIO引脚
rain_sensor = 11
lm393_DO = 6
lm393_AO = 0
rgb_R = 12
rgb_G = 13
rgb_B = 16
tilt_sensor = 17
tracking_sensor = 23
buzzer = 22
bi_color_R = 18
bi_color_G = 27

# 设置GPIO引脚模式
GPIO.setmode(GPIO.BCM)
GPIO.setup(rain_sensor, GPIO.IN)
GPIO.setup(lm393_DO, GPIO.IN)
GPIO.setup(lm393_AO, GPIO.IN)
GPIO.setup(rgb_R, GPIO.OUT)
GPIO.setup(rgb_G, GPIO.OUT)
GPIO.setup(rgb_B, GPIO.OUT)
GPIO.setup(tilt_sensor, GPIO.IN)
GPIO.setup(tracking_sensor, GPIO.IN)
GPIO.setup(buzzer, GPIO.OUT)
GPIO.setup(bi_color_R, GPIO.OUT)
GPIO.setup(bi_color_G, GPIO.OUT)

# 定义RGB灯颜色
RED = (255, 0, 0)
GREEN = (0, 255, 0)
BLUE = (0, 0, 255)
YELLOW = (255, 255, 0)
PURPLE = (255, 0, 255)
CYAN = (0, 255, 255)
WHITE = (255, 255, 255)
BLACK = (0, 0, 0)

# 检测雨滴传感器状态
def check_rain_sensor():
    if GPIO.input(rain_sensor):
        rgb_led(RED)
    else:
        rgb_led(BLUE)

# 检测倾斜传感器状态
def check_tilt_sensor():
    if GPIO.input(tilt_sensor):
        bi_color_led(RED)
    else:
        bi_color_led(GREEN)

# 检测循迹传感器状态
def check_tracking_sensor():
    if GPIO.input(tracking_sensor) == GPIO.HIGH:
        buzzer_on()
    else:
        buzzer_off()

# RGB灯控制
def rgb_led(color):
    GPIO.output(rgb_R, color[0])
    GPIO.output(rgb_G, color[1])
    GPIO.output(rgb_B, color[2])

# 双色LED灯控制
def bi_color_led(color):
    GPIO.output(bi_color_R, color[0])
    GPIO.output(bi_color_G, color[1])

# 蜂鸣器控制
def buzzer_on():
    GPIO.output(buzzer, GPIO.HIGH)
    time.sleep(0.5)
    GPIO.output(buzzer, GPIO.LOW)
    time.sleep(0.5)

def buzzer_off():
    GPIO.output(buzzer, GPIO.LOW)

# PCF8591模块读取模拟值
def read_analog():
    analog_value = pcf8591.read(0)
    return analog_value

# 主循环
while True:
    # 处理pygame事件
    for event in pygame.event.get():
        # 关闭窗口事件
        if event.type == pygame.QUIT:
            pygame.quit()
            sys.exit()

    # 获取传感器状态
    rain_sensor_status = GPIO.input(rain_sensor)
    tilt_sensor_status = GPIO.input(tilt_sensor)
    tracking_sensor_status = GPIO.input(tracking_sensor)
    analog_value = read_analog()

    # 显示传感器状态
    font = pygame.font.Font(None, 36)
    rain_sensor_text = font.render("Rain Sensor: {}".format(rain_sensor_status), True, WHITE)
    tilt_sensor_text = font.render("Tilt Sensor: {}".format(tilt_sensor_status), True, WHITE)
    tracking_sensor_text = font.render("Tracking Sensor: {}".format(tracking_sensor_status), True, WHITE)
    analog_value_text = font.render("Analog Value: {}".format(analog_value), True, WHITE)

    # 清空屏幕
    screen.fill(BLACK)

    # 显示传感器状态
    screen.blit(rain_sensor_text, (20, 20))
    screen.blit(tilt_sensor_text, (20, 60))
    screen.blit(tracking_sensor_text, (20, 100))
    screen.blit(analog_value_text, (20, 140))

    # 检测传感器状态并控制LED灯和蜂鸣器
    check_rain_sensor()
    check_tilt_sensor()
    check_tracking_sensor()

    # 更新pygame显示
    pygame.display.update()

# 清理GPIO引脚
GPIO.cleanup()

注意：在运行代码前需要先安装pygame和smbus2库。可以通过以下命令进行安装：

sudo apt-get install python-pygame
sudo pip install smbus2

PCF8591模块的代码如下：

import smbus2

class PCF8591:
    def __init__(self, address):
        self.address = address
        self.bus = smbus2.SMBus(1)

    def read(self, channel):
        # 设置PCF8591模块
        self.bus.write_byte(self.address, channel)
        # 读取模拟值
        analog_value = self.bus.read_byte(self.address)
        return analog_value

将PCF8591模块的代码保存为PCF8591.py文件，并与主代码放在同一目录下。