AI视觉小车基础--7.四路巡线模块状态打印

最新推荐文章于 2024-11-29 09:00:00 发布

原创最新推荐文章于 2024-11-29 09:00:00 发布 · 408 阅读

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#树莓派 #视觉小车 #计算机视觉 #人工智能

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一、实验准备

读取四路巡线模块的状态并打印。

1.1 接线

如下图所示，将四路巡线模块接在扩展板上。

1.2 调试四路巡线模块

（1）将小车四路巡线模块放在白纸上或者其他白色背景的上面。

（2）将第一个探头放在黑线上方，调节旋钮，调节成指示灯亮。

（3）接着继续调第二、第三个探头，调节旋钮，调节成指示灯。依此类推，调试第四个探头

最终调试成探头在黑线上方时，指示灯亮；探头不在黑线上方时灭。

二、运行代码

import time
from Raspbot_Lib import Raspbot
from ipywidgets import interact
import ipywidgets as widgets
import sys
sys.path.append('/home/pi/software/oled_yahboom/')
from yahboom_oled import *

# Create the Raspbot object bot
bot = Raspbot()
# Create an oled object
oled = Yahboom_OLED(debug=False)

def main():
    try:
        oled.init_oled_process() # Initialize oled process
        while True: 
            # Read the status of the line patrol sensor
            track_data = bot.read_data_array(0x0a, 1)
            track = int(track_data[0])

            # Analyze the status of the line patrol sensor
            x1 = (track >> 3) & 0x01
            x2 = (track >> 2) & 0x01
            x3 = (track >> 1) & 0x01
            x4 = track & 0x01

            # Print the status of the line-following sensor
            print(f"Line Tracker Status: {x2}, {x1}, {x3}, {x4}")

            oled.clear()
            lts_str=f'         {x2}  {x1}  {x3}  {x4}'
            oled.add_line('Line Tracker Status:', 1)
            oled.add_line('        x2 x1 x3 x4', 3)
            oled.add_line(lts_str, 4)
            oled.refresh()

            # Pause for a short time to read the data again
            time.sleep(0.1) 

    except KeyboardInterrupt:
        # When the user presses Ctrl+C, the program will end
        # Restore basic data display on screen
        os.system("python3 /home/pi/software/oled_yahboom/yahboom_oled.py &")
        print("Line tracking stopped by user.")

if __name__ == "__main__":
    main()

del bot