1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
| class robots(object):
def __init__(self,dueros, player):
'''
类初始化
:param dueros:DuerOS核心模块实例
:param player: 播放器实例（平台相关）
'''
self.namespace = 'ai.dueros.device_interface.thirdparty.robot.xiaobai'
self.dueros = dueros
self.token = ''
self.state = 'IDLE'
self.player = player
self.player.add_callback('eos', self.__playback_finished)
self.player.add_callback('error', self.__playback_failed)
print '....WIFIROBOTS START!!!...'
#######################################
#############信号引脚定义##############
#######################################
GPIO.setmode(GPIO.BOARD)
########电机驱动接口定义#################
ENA = 29 # //L298使能A
ENB = 31 # //L298使能B
IN1 = 7 # //电机接口1
IN2 = 16 # //电机接口2
IN3 = 13 # //电机接口3
IN4 = 15 # //电机接口4
########舵机接口定义#################
S_Hand_L = 18
S_Hand_R = 22
S_Ear_L = 37
S_Ear_R = 36
########超声波接口定义#################
ECHO = 32 # 超声波接收脚位
TRIG = 31 # 超声波发射脚位
#######################################
#########管脚类型设置及初始化##########
#######################################
GPIO.setwarnings(False)
#########电机初始化为LOW##########
GPIO.setup(ENA, GPIO.OUT, initial=GPIO.LOW)
ENA_pwm = GPIO.PWM(ENA, 1000)
ENA_pwm.start(0)
ENA_pwm.ChangeDutyCycle(100)
GPIO.setup(IN1, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(IN2, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(ENB, GPIO.OUT, initial=GPIO.LOW)
ENB_pwm = GPIO.PWM(ENB, 1000)
ENB_pwm.start(0)
ENB_pwm.ChangeDutyCycle(100)
GPIO.setup(IN3, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(IN4, GPIO.OUT, initial=GPIO.LOW)
#########舵机初始化##########
GPIO.setup(S_Hand_L, GPIO.OUT)
GPIO.setup(S_Hand_R, GPIO.OUT)
GPIO.setup(S_Ear_L, GPIO.OUT)
GPIO.setup(S_Ear_R, GPIO.OUT)
##########超声波模块管脚类型设置#########
GPIO.setup(TRIG, GPIO.OUT, initial=GPIO.LOW) # 超声波模块发射端管脚设置trig
GPIO.setup(ECHO, GPIO.IN, pull_up_down=GPIO.PUD_UP) # 超声波模块接收端管脚设置echo
##########机器人方向控制###########################
def Motor_Forward(self):
print 'motor forward'
GPIO.output(self.ENA, True)
GPIO.output(self.ENB, True)
GPIO.output(self.IN1, True)
GPIO.output(self.IN2, False)
GPIO.output(self.IN3, True)
GPIO.output(self.IN4, False)
shutil.copy("/home/pi/DuerOS-Python-Client/app/resources/forward.mp3",
"/home/pi/DuerOS-Python-Client/temp.mp3")
print "语音反馈"
self.player.play('file://{}'.format('/home/pi/DuerOS-Python-Client/temp.mp3'))
os.remove("temp.mp3")
# time.sleep(2)
# GPIO.output(LED1,False)#LED1亮
# GPIO.output(LED2,False)#LED1亮
def Motor_Backward(self):
print 'motor_backward'
GPIO.output(self.ENA, True)
GPIO.output(self.ENB, True)
GPIO.output(self.IN1, False)
GPIO.output(self.IN2, True)
GPIO.output(self.IN3, False)
GPIO.output(self.IN4, True)
shutil.copy("/home/pi/DuerOS-Python-Client/app/resources/backward.mp3",
"/home/pi/DuerOS-Python-Client/temp.mp3")
print "语音反馈"
self.player.play('file://{}'.format('/home/pi/DuerOS-Python-Client/temp.mp3'))
os.remove("temp.mp3")
# time.sleep(2)
# GPIO.output(LED1,True)#LED1灭
# GPIO.output(LED2,False)#LED2亮
|
