咸鱼ZTMR实例—遥控小车
*控制了一下LED感觉好简单。那我们现在来控制马达，做成遥控小车吧（简单的）。只要把之前的LED换成马达函数就好了。搞起~~~~~*
主控板：ZTMR开发板
PS2手柄
N20减速马达（四驱车上的电机）
| PS2手柄数字 | 代表按钮 | 小车状态 |
|---|---|---|
| 5 | 上 | go（直行） |
| 6 | 右 | right（右转） |
| 7 | 下 | back（后退） |
| 8 | 左 | left（左转） |
| 0 | 默认值 | stopdj（停） |
例程：遥控车雏形走起
main.py
# main.py -- put your code here!
import ps2
import pyb
from car import Car
while True:
pyb.delay(300)
print(ps2.ps2_key())
if (ps2.ps2_key()==5):
Car.go(40)
elif (ps2.ps2_key()==6):
Car.right(40)
elif (ps2.ps2_key()==7):
Car.back(40)
elif (ps2.ps2_key()==8):
Car.left(40)
else:
Car.stopdj()
ps2.py
from machine import Pin
import time
def ps2_test():
print('test ok')
di=Pin(Pin.cpu.C0,Pin.IN,Pin.PULL_DOWN)
do=Pin(Pin.cpu.C1,Pin.OUT, )
cs=Pin(Pin.cpu.C2,Pin.OUT,) #PULL_UP
clk=Pin(Pin.cpu.C3,Pin.OUT,)
#D0 16 dat=DI
#D2 04 cmd=DO
#D3 0 CS =CS
#D4 02 CLK=CLK
def DO_H():
do.value(1)
def DO_L():
do.value(0)
def CS_H ():
cs.value(1)
def CS_L():
cs.value(0)
def CLK_H ():
clk.value(1)
def CLK_L():
clk.value(0)
#常量按钮
PSB_SELECT = 1
PSB_L3 = 2
PSB_R3 = 3
PSB_START = 4
PSB_PAD_UP = 5
PSB_PAD_RIGHT = 6
PSB_PAD_DOWN = 7
PSB_PAD_LEFT = 8
PSB_L2 = 9
PSB_R2 = 10
PSB_L1 = 11
PSB_R1 = 12
PSB_GREEN = 13
PSB_RED = 14
PSB_BLUE = 15
PSB_PINK = 16
PSB_TRIANGLE = 13
PSB_CIRCLE = 14
PSB_CROSS = 15
PSB_SQUARE = 26
# 左摇杆
PSS_RX = 5
PSS_RY = 6
PSS_LX = 7
PSS_LY = 8
mask=[
PSB_SELECT,
PSB_L3,
PSB_R3 ,
PSB_START,
PSB_PAD_UP,
PSB_PAD_RIGHT,
PSB_PAD_DOWN,
PSB_PAD_LEFT,
PSB_L2,
PSB_R2,
PSB_L1,
PSB_R1 ,
PSB_GREEN,
PSB_RED,
PSB_BLUE,
PSB_PINK]
comd=[0x01,0x42]
data=[0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00]
def ps2_init():
CLK_H()
DO_H()
time.sleep_ms(10)
def ps2_cmd(cmd):
global data
data[1]=0
for ref in (1,2,4,8,16,32,64,128):
if ( ref & cmd):
DO_H()
else:
DO_L()
CLK_H ()
time.sleep_us(50)
CLK_L()
time.sleep_us(50)
CLK_H ()
if(di.value()==1):
data[1]=ref|data[1]
def ps2_red():
global data
global comd
CS_L()
ps2_cmd(comd[0])
ps2_cmd(comd[1])
CS_H()
if(data[1]==57):
return 0#red light
else:
return 1#not red
def ps2_read():
global data
global comd
byte=0
ref=0x01
CS_L()
ps2_cmd(comd[0])
ps2_cmd(comd[1])
for byte in (2,3,4,5,6,7,8):
for ref in (1,2,4,8,16,32,64,128):
CLK_H ()
CLK_L()
time.sleep_us(50)
CLK_H ()
if(di.value()==1):
data[byte]= ref|data[byte]
time.sleep_us(50)
CS_H ()
def ps2_clear():#ok
global data
for i in range(0,9,1):
data[i]=0
def ps2_andata(button):
global data
return data[button]
def ps2_key():
global data
global mask
ps2_clear()
ps2_read()
handkey=(data[4]<<8)|data[3]
for index in (0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15):
if (( handkey&(1<<(mask[index]-1)))==0):
return index+2
return 0
car.py
# main.py -- put your code here!
from pyb import Pin, Timer,delay
from time import sleep_us,ticks_us,sleep
cs = Pin('B10',Pin.OUT_PP) #B10设置为输出引脚输出高电平
cs(1)
ch1 =None
ch2 =None #初始化
AI1 = Pin('B12',Pin.OUT_PP) #右侧马达
AI2 = Pin('B13',Pin.OUT_PP)
BI1 = Pin('B14',Pin.OUT_PP) #左侧马达
BI2 = Pin('B15',Pin.OUT_PP)
#A电机（右）
p1 = Pin('B8')
tim1 = Timer(10, freq=120)
ch1 = tim1.channel(1, Timer.PWM, pin=p1)
#B电机（左）
p2 = Pin('B9')
tim2 = Timer(4, freq=120)
ch2 = tim2.channel(4, Timer.PWM, pin=p2)
#小车状态
class Car(): #把小车行驶状态存入Car类中
def go(speed): #直行状态
ch1.pulse_width_percent(speed)
ch2.pulse_width_percent(speed)
AI1(0)
AI2(1)
BI1(1)
BI2(0)
def back(speed): #逆行
ch1.pulse_width_percent(speed)
ch2.pulse_width_percent(speed)
AI1(1)
AI2(0)
BI1(0)
BI2(1)
def stopdj(): #停止
ch1.pulse_width_percent(0)
ch2.pulse_width_percent(0)
def spin_left(speed): #左旋
ch1.pulse_width_percent(0)#右
ch2.pulse_width_percent(speed)
AI1(0)
AI2(0)
BI1(1)
BI2(0)
def spin_right(speed):#右旋
ch1.pulse_width_percent(speed)
ch2.pulse_width_percent(0)
AI1(1)
AI2(0)
BI1(0)
BI2(0)
def left(speed): #左转
ch1.pulse_width_percent(0)#右
ch2.pulse_width_percent(speed)
AI1(0)
AI2(0)
BI1(1)
BI2(0)
def right(speed): #右转
ch1.pulse_width_percent(speed)
ch2.pulse_width_percent(0)
AI1(1)
AI2(0)
BI1(0)
BI2(0)
