ESP32智能小车+PS2无线遥控器+麦克纳姆轮+microPython

麦克纳姆轮+microPython"/>

ESP32智能小车+PS2无线遥控器+麦克纳姆轮+microPython

from machine import Pin,PWM
from ps2 import PS2Controller
import time
import os# #############################################
# PS2 遥控器
# #############################################
ps2ctl = PS2Controller(di_pin_no=26, do_pin_no=27, cs_pin_no=14, clk_pin_no=12)
ps2ctl.init()# #############################################
# 小车轮子控制
# #############################################
pin1=PWM(Pin(19),freq=1000)  #左前 红1
pin2=PWM(Pin(18),freq=1000)
pin3=PWM(Pin( 5),freq=1000)  #左后 红3
pin4=PWM(Pin(17),freq=1000)
pin5=PWM(Pin(16),freq=1000)  #右前 黑5
pin6=PWM(Pin( 4),freq=1000)
pin7=PWM(Pin( 0),freq=1000)  #右后 黑7
pin8=PWM(Pin( 2),freq=1000)#前进
def car_forward(speed):pin1.duty(speed)  #左前pin2.duty(0)pin3.duty(speed)  #左后pin4.duty(0)pin5.duty(speed)  #右前pin6.duty(0)pin7.duty(speed)  #右后pin8.duty(0)  #后退、倒车、倒转
def car_back(speed):pin1.duty(0)     #左前pin2.duty(speed)pin3.duty(0)     #左后pin4.duty(speed)pin5.duty(0)     #右前pin6.duty(speed)  pin7.duty(0)     #右后pin8.duty(speed)  # 普通左转 = 左前、左后后退， 右前、右后前进
def car_left(speed):pin1.duty(0)     #左前pin2.duty(speed)pin3.duty(0)     #左后pin4.duty(speed)pin5.duty(speed)     #右前pin6.duty(0)  pin7.duty(speed)     #右后pin8.duty(0)  # 普通右转 = 左前、左后前进， 右前、右后后退  
def car_right(speed):pin1.duty(speed)   #左前pin2.duty(0)pin3.duty(speed)   #左后pin4.duty(0)pin5.duty(0)     #右前pin6.duty(speed)  pin7.duty(0)     #右后pin8.duty(speed)  #停车、停止
def car_stop():pin1.duty(0)pin2.duty(0)pin3.duty(0)pin4.duty(0)pin5.duty(0)pin6.duty(0)pin7.duty(0)pin8.duty(0)#  左平移=左前倒转、左后前进、右前前进、右后倒转
def car_left_pingyi(speed):pin1.duty(0)  #左前pin2.duty(speed)pin3.duty(speed)  #左后pin4.duty(0)pin5.duty(speed)  #右前pin6.duty(0)pin7.duty(0)  #右后pin8.duty(speed)  #  右平移=左前前进、左后倒转、右前倒转、右后前进
def car_right_pingyi(speed):pin1.duty(speed)  #左前pin2.duty(0)pin3.duty(0)  #左后pin4.duty(speed)pin5.duty(0)  #右前pin6.duty(speed)pin7.duty(speed)  #右后pin8.duty(0) # 左上角 = 左前不动、左后前进、右前前进、右后不动
def car_left_up(speed):pin1.duty(0)  #左前pin2.duty(0)pin3.duty(speed)  #左后pin4.duty(0)pin5.duty(speed)  #右前pin6.duty(0)pin7.duty(0)  #右后pin8.duty(0)  # 左下角 = 左前倒退、左后不动、右前不动、右后倒退
def car_left_down(speed):pin1.duty(0)  #左前pin2.duty(speed)pin3.duty(0)  #左后pin4.duty(0)pin5.duty(0)  #右前pin6.duty(0)pin7.duty(0)  #右后pin8.duty(speed)  # 右上角 =  左前前进、左后不动、右前不动、右后前进
def car_right_up(speed):pin1.duty(speed)  #左前pin2.duty(0)pin3.duty(0)  #左后pin4.duty(0)pin5.duty(0)  #右前pin6.duty(0)pin7.duty(speed)  #右后pin8.duty(0)    # 右下角 =  左前不动、左后倒退、右前倒退、右后不动
def car_right_down(speed):pin1.duty(0)  #左前pin2.duty(0)pin3.duty(0)  #左后pin4.duty(speed)pin5.duty(0)  #右前pin6.duty(speed)pin7.duty(0)  #右后pin8.duty(0)   # ##################################################  
# 主循环开始！！！
# ##################################################
i=1  #循环次数
speed=400   #初始速度，最高1000. 低于400容易电压太低驱动不了
print("小车程序开始运行，正在等待PS2遥控器按键(按start停车)")
try:while True:key_car= ps2ctl.read_once()   # 收到的字符格式为 keys:UP,RIGHT: pos(lx,ly):0,-1: pos(rx,ry): 0,-1:#print("检测到按键：",key_car)    key_list= key_car.split(':')  # 用：来将字符串进行分割，写入数组key_list中# key_list[1]  输入的按键# key_list[3]  左摇杆坐标# key_list[5]  右摇杆坐标# 停止 = 遥控器 start = 4    if key_list[1]=="START" : print(key_car," 停止.......")car_stop()# 前进 = 遥控器 左摇杆 上 = 5# 前进 = 遥控器 右摇杆 上 = 13    if key_list[1]=="UP" or key_list[1]=="TRIANGLE": print(key_car," 前进")car_forward(speed)# 后退 = 遥控器 左摇杆 下 = 7 # 后退 = 遥控器 右摇杆 下 = 15          if key_list[1]=="DOWN" or key_list[1]=="CROSS": print(key_car," 后退")car_back(speed)# 左平移 = 遥控器 左摇杆左 = 8if key_list[1]=="LEFT": print(key_car," 左平移")car_left_pingyi(speed)# 右平移 = 遥控器 左摇杆右 = 6if key_list[1]=="RIGHT": print(key_car," 右平移")car_right_pingyi(speed)# 左转 = 遥控器 右摇杆 左 = 16if key_list[1]=="SQUARE" : print(key_car," 左转")car_left(speed)# 右转 = 遥控器 右摇杆 右 = 14if key_list[1]=="CIRCLE": print(key_car," 右转")car_right(speed) # 左上方 = 遥控器 左L1 = 11if key_list[1]=="UP,LEFT": print(key_car," 左上方")car_left_up(speed) # 左下方 = 遥控器 左L2 = 9if key_list[1]=="DOWN,LEFT": print(key_car," 左下方")car_left_down(speed) # 右上方 = 遥控器 右R1 = 12if key_list[1]=="UP,RIGHT": print(key_car," 右上方")car_right_up(speed) # 右下方 = 遥控器 右R2 = 10  if key_list[1]=="RIGHT,DOWN": print(key_car," 右下方")car_right_down(speed) # L1 加速if key_list[1]=="L1"  and speed<1000: speed=speed+100print("当前速度已经加速至：",speed)# L2 减速if key_list[1]=="L2"  and speed>400: speed=speed-100print("当前速度已经降低至：",speed)  # 右侧 三角+X，同时按下，删除main.py 取消自动启动if key_list[1]=="TRIANGLE,CROSS" : os.remove("main.py")print("-----------  main.py 已经删除 ----------")       car_stop()# SELECT = 1    L3 = 2    R3 = 3    START = 4    # UP = 5    RIGHT = 6    DOWN = 7    LEFT = 8    # L2 = 9    R2 = 10    L1 = 11    R1 = 12# TRIANGLE = 13    CIRCLE = 14    CROSS = 15    SQUARE = 16i=i+1time.sleep(0.1)except KeyboardInterrupt:print('KeyboardInterrupt 程序被人为中止....')
finally:pin1.deinit()pin2.deinit()pin3.deinit()pin4.deinit()pin5.deinit()pin6.deinit()pin7.deinit()pin8.deinit()    print('Exit 程序共运行了'+str(i)+'次，程序结束。') 

需要用到ps2.py文件，可查看ESP32+PS2 无线手柄转接板+microPython-CSDN博客

 ps2.py

import time
from machine import Pinclass PS2Controller:# These are our button constantsSELECT = 1L3 = 2R3 = 3START = 4UP = 5RIGHT = 6DOWN = 7LEFT = 8L2 = 9R2 = 10L1 = 11R1 = 12TRIANGLE = 13CIRCLE = 14CROSS = 15SQUARE = 16KEYS = dict([(SELECT, "SELECT"),        (L3, "L3"),        (R3, "R3"),        (START, "START"),(UP, "UP"),        (RIGHT, "RIGHT"),        (DOWN, "DOWN"),        (LEFT, "LEFT"),(L2, "L2"),        (R2, "R2"),        (L1, "L1"),        (R1, "R1"),(TRIANGLE, "TRIANGLE"),        (CIRCLE, "CIRCLE"),        (CROSS, "CROSS"),        (SQUARE, "SQUARE")  ])CTRL_CLK = 10CTRL_BYTE_DELAY = 16CMD_SHORT_POLL   = [0x01, 0x42, 0x00, 0x00, 0x00]CMD_ENTER_CONFIG = [0x01, 0x43, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00]CMD_SET_MODE     = [0X01, 0x44, 0x00,0x01,  # 00 normal; 01 red or analog0x03,  # 03 lock; ee no lock0x00, 0x00, 0x00, 0x00]CMD_SET_BYTES_LARGE = [0x01, 0x4F, 0x00, 0xFF, 0xFF, 0x03, 0x00, 0x00, 0x00]CMD_EXIT_CONFIG     = [0x01, 0x43, 0x00, 0x00, 0x5A, 0x5A, 0x5A, 0x5A, 0x5A]CMD_ENABLE_RUMBLE   = [0x01, 0x4D, 0x00, 0x00, 0x01]CMD_TYPE_READ       = [0x01, 0x45, 0x00, 0x5A, 0x5A, 0x5A, 0x5A, 0x5A, 0x5A]CMD_READ_DATA       = [0X01, 0X42, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00]MAX_READ_DELAY = 1500VALID_MODES = [0X41, 0X73]def __init__(self, di_pin_no=26, do_pin_no=27, cs_pin_no=14, clk_pin_no=12):  # DI=DAT、DO=CMD 可以在此处将针脚调整为你自己对应的针脚self.di_pin_no = di_pin_noself.do_pin_no = do_pin_noself.cs_pin_no = cs_pin_noself.clk_pin_no = clk_pin_noself.di  = Pin(self.di_pin_no, Pin.IN)  # DI = DATself.do  = Pin(self.do_pin_no, Pin.OUT) # DO = CMDself.cs  = Pin(self.cs_pin_no, Pin.OUT)self.clk = Pin(self.clk_pin_no, Pin.OUT)self.buff_out = [0x01, 0x42]self.buff_in = [0] * 9self.pressed_keys = []self.read_delay = 1self.last_read_ms = 0self.lx = 0self.ly = 0self.rx = 0self.ry = 0@propertydef red_mode(self):  # analog modereturn self.buff_in[1] & 0xf0 == 0x70def do_h(self):self.do.value(1)def do_l(self):self.do.value(0)def cs_h(self):self.cs.value(1)def cs_l(self):self.cs.value(0)def clk_h(self):self.clk.value(1)def clk_l(self):self.clk.value(0)# noinspection PyUnresolvedReferencesdef delay_byte(self):time.sleep_us(self.read_delay)# noinspection PyUnresolvedReferencesdef delay_clk(self):time.sleep_us(self.CTRL_CLK)# noinspection PyUnresolvedReferencesdef delay_read(self):time.sleep_us(self.CTRL_BYTE_DELAY)# time.sleep_ms(self.read_delay)def cmd(self, cmd):ret = 0for i in range(8):if cmd & 1 << i:self.do_h()else:self.do_l()self.clk_l()self.delay_clk()if self.di.value():ret |= 1 << iself.clk_h()self.do_h()self.delay_byte()return ret""":param pure True means not delay"""def cmd_group(self, cmds):self.cs_l()self.delay_byte()for cmd in cmds:self.cmd(cmd)self.cs_h()self.delay_read()def init(self):self.di  = Pin(self.di_pin_no, Pin.IN)self.do  = Pin(self.do_pin_no, Pin.OUT)self.cs  = Pin(self.cs_pin_no, Pin.OUT)self.clk = Pin(self.clk_pin_no, Pin.OUT)self.do_h()self.clk_h()self.read_once()self.read_once()#if self.buff_in[1] not in [0x41, 0x73]:print("control type not ok, expect 41 73 79, bug get ", "{:02x}".format(self.buff_in[1]))return 1self.read_delay = 1for i in range(10):# self.cmd_group(self.CMD_SHORT_POLL)# self.cmd_group(self.CMD_SHORT_POLL)# self.cmd_group(self.CMD_SHORT_POLL)self.cmd_group(self.CMD_ENTER_CONFIG)self.delay_byte()self.do_h()self.clk_h()self.cs_l()self.delay_byte()#temp = [0] * len(self.CMD_TYPE_READ)for j in range(9):for cmd in self.CMD_TYPE_READ:temp[j] = self.cmd(cmd)self.cs_h()self.cmd_group(self.CMD_SET_MODE)# self.cmd_group(self.CMD_ENABLE_RUMBLE)self.cmd_group(self.CMD_EXIT_CONFIG)self.read_once()if self.buff_in[1] in self.VALID_MODES:print("read_delay configed,", self.read_delay)breakelse:self.read_delay += 1print("read_delay++,", self.read_delay)def reconfig(self):print("reconfig")self.cmd_group(self.CMD_ENTER_CONFIG)self.cmd_group(self.CMD_SET_MODE)self.cmd_group(self.CMD_EXIT_CONFIG)def p(self, debug=True):if debug:for d in self.buff_in:print("{:08b}".format(d))key_raw = (self.buff_in[4] << 8) | self.buff_in[3]for i in range(1, 17):if not key_raw & 1 << i - 1:self.pressed_keys.append(i)if self.red_mode:self.rx = self.buff_in[5] - 128self.ry = self.buff_in[6] - 128self.lx = self.buff_in[7] - 128self.ly = self.buff_in[8] - 128if self.pressed_keys:out = "keys:" + ','.join(self.KEYS[k] for k in self.pressed_keys) + "; "else:out = ""# for key in self.pressed_keys:#     print(key, self.KEYS[key])if self.red_mode and (out or any(x != 0 for x in [self.rx, self.ry, self.lx, self.ly])):out += "pos: (lx,ly):{},{};  (rx,ry): {},{}".format(self.lx, self.ly, self.rx, self.ry)if out:print(out)def read_once(self, debug=False):now = time.ticks_ms()delay = now - self.last_read_msif delay > self.MAX_READ_DELAY:print(now, self.last_read_ms, delay)self.reconfig()elif delay < self.read_delay:# noinspection PyUnresolvedReferencestime.sleep_ms(self.read_delay - delay)self.buff_in = [0] * 9self.pressed_keys.clear()for j in range(5):# for i in range(1):self.do_h()self.clk_h()self.cs_l()self.delay_byte()for i, c in enumerate(self.CMD_READ_DATA):self.buff_in[i] = self.cmd(c)self.cs_h()if self.buff_in[1] in self.VALID_MODES:breakelse:print("mode: {:08b}, retry_J: {}".format(self.buff_in[1], j))self.reconfig()self.delay_read()if self.buff_in[1] not in self.VALID_MODES and self.read_delay < 10:self.read_delay += 1self.last_read_ms = time.ticks_ms()#self.p(debug)#以下为自己添加 ，原P()内的代码key_raw = (self.buff_in[4] << 8) | self.buff_in[3]for i in range(1, 17):if not key_raw & 1 << i - 1:self.pressed_keys.append(i)if self.red_mode:self.rx = self.buff_in[5] - 128self.ry = self.buff_in[6] - 128self.lx = self.buff_in[7] - 128self.ly = self.buff_in[8] - 128if self.pressed_keys:      #注意下面这几行的:和,千万不要修改，后面要他们做标记分割使用！out = "keys:" + ','.join(self.KEYS[k] for k in self.pressed_keys) + ": "else:out = "keys:无:"# for key in self.pressed_keys:#     print(key, self.KEYS[key])if self.red_mode and (out or any(x != 0 for x in [self.rx, self.ry, self.lx, self.ly])):out += "pos(lx,ly):{},{}:  pos(rx,ry):{},{}:".format(self.lx, self.ly, self.rx, self.ry)if out:print(out)#return self.buff_inreturn out'''
# 调用方法，将以下几行代码新建一个文件如：ps2_test.py
from ps2 import PS2Controller
import time
ps2ctl = PS2Controller(di_pin_no=26, do_pin_no=27, cs_pin_no=14, clk_pin_no=12)
ps2ctl.init()
while True:key_car= ps2ctl.read_once()   # 收到的字符格式为 keys:UP,RIGHT: pos(lx,ly):0,-1: pos(rx,ry): 0,-1:#print("检测到按键：",key_car)    key_list= key_car.split(':')  # 用：来将字符串进行分割，写入数组key_list中  key_list[1]输入的按键、key_list[3]左摇杆坐标、key_list[5]右摇杆坐标if key_list[1]=="UP": print(key_car," 前进")if key_list[1]=="UP,LEFT": print(key_car," 左上方")time.sleep(0.2)
''' 

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