树莓派小车折线巡线PID代码

以下是树莓派小车折线巡线PID代码的示例，仅供参考：

import RPi.GPIO as gpio
import time

# 左右电机引脚
left_motor_pins = (17, 18, 27)
right_motor_pins = (22, 23, 24)

# 巡线传感器引脚
line_sensor_pins = (12, 16, 20, 21)

# PID参数
kp = 0.5
ki = 0.01
kd = 0.2

# 巡线状态
line_state = [1, 1, 1, 1]

# 巡线PID控制
def pid_control():
    error = 0
    for i in range(4):
        error += line_state[i] * (i - 1.5) * 2
    p = error * kp
    i = error * ki
    d = (error - pid_control.last_error) * kd
    pid_control.last_error = error
    return p + i + d
pid_control.last_error = 0

# 初始化GPIO
def init_gpio():
    gpio.setmode(gpio.BCM)
    for pin in left_motor_pins + right_motor_pins:
        gpio.setup(pin, gpio.OUT, initial=gpio.LOW)
    for pin in line_sensor_pins:
        gpio.setup(pin, gpio.IN)

# 控制左右电机
def set_motor(left_power, right_power):
    if left_power > 0:
        gpio.output(left_motor_pins[0], gpio.HIGH)
        gpio.output(left_motor_pins[1], gpio.LOW)
    else:
        gpio.output(left_motor_pins[0], gpio.LOW)
        gpio.output(left_motor_pins[1], gpio.HIGH)
    if right_power > 0:
        gpio.output(right_motor_pins[0], gpio.HIGH)
        gpio.output(right_motor_pins[1], gpio.LOW)
    else:
        gpio.output(right_motor_pins[0], gpio.LOW)
        gpio.output(right_motor_pins[1], gpio.HIGH)
    gpio.output(left_motor_pins[2], abs(left_power) * 255)
    gpio.output(right_motor_pins[2], abs(right_power) * 255)

# 读取巡线传感器状态
def read_line_state():
    for i in range(4):
        line_state[i] = gpio.input(line_sensor_pins[i])

# 主循环
def main():
    init_gpio()
    while True:
        read_line_state()
        pid_output = pid_control()
        set_motor(0.5 - pid_output, 0.5 + pid_output)
        time.sleep(0.01)

if __name__ == '__main__':
    main()

这是一个简单的折线巡线PID代码，具体的实现可能因车辆结构和巡线传感器的安装方式而有所不同。在使用时，需要根据实际情况进行调整和优化。