def main(): """ メイン関数 """ # 接続ピン PIN_AIN1 = 6 PIN_AIN2 = 5 PIN_BIN1 = 26 PIN_BIN2 = 27 # 左右モーター設定(PWM) motors = Robot(left=(PIN_AIN1,PIN_AIN2),right=(PIN_BIN1,PIN_BIN2),pwm=True) # 0.1秒毎周期30（約3秒）のSIN値の信号源 srcleft = post_delayed(sin_values(period=30),0.1) # 0.1秒毎周期30（約3秒）のCOS値の信号源 srcright = post_delayed(cos_values(period=30),0.1) # 左右モータに信号源を接続 motors.source = zip(srcleft,srcright) # 停止(Ctr+c)まで待機 pause()
def main():
""" メイン関数 """
# 接続ピン
PIN_AIN1 = 6
PIN_AIN2 = 5
PIN_BIN1 = 26
PIN_BIN2 = 27
# 左右モーター設定(PWM)
motors = Robot(left=(PIN_AIN1, PIN_AIN2),
right=(PIN_BIN1, PIN_BIN2),
pwm=True)
# 1秒毎の正負パルス値の信号源
dirleft = post_delayed(scaled(alternating_values(True), -1, 1), 1)
dirright = post_delayed(scaled(alternating_values(False), -1, 1), 1)
# 左右モーターに信号源を接続
motors.source = zip(dirleft, dirright)
# 停止(Ctrl+c)まで待機
pause()
def main():
""" メイン関数 """
# モータードライバ接続ピン
PIN_AIN1 = 6
PIN_AIN2 = 5
PIN_BIN1 = 26
PIN_BIN2 = 27
# A/D変換チャネル数
NUM_CH = 4
# 左右モーター設定(PWM)
motors = Robot(left=(PIN_AIN1,PIN_AIN2), \
right=(PIN_BIN1,PIN_BIN2), \
pwm=True)
# フォトリフレクタ（複数）設定（A/D変換）
photorefs = [MCP3004(channel=idx) for idx in range(NUM_CH)]
# ライントレース処理
motors.source = line_follow(photorefs)
# 停止(Ctr+c)まで待機
pause()
from gpiozero import Robot, MCP3008 from signal import pause robot = Robot(left=(4, 14), right=(17, 18)) left = MCP3008(0) right = MCP3008(1) robot.source = zip(left.values, right.values) pause()
l_sensor = LineSensor(LS)
r_sensor = LineSensor(RS)
speed = 0.68
def motor_speed():
while True:
l_detect = int(l_sensor.value)
r_detect = int(r_sensor.value)
## Stage 1
if l_detect == 0 and r_detect == 0:
l_motor = 1
r_motor = 1
## Stage 2
if l_detect == 0 and r_detect == 1:
l_motor = -1
if l_detect == 1 and r_detect == 0:
r_motor = -1
#print(r, l)
yield (r_motor * speed, l_motor * speed)
robot.source = motor_speed()
sleep(60)
robot.stop()
robot.source = None
robot.close()
l_sensor.close()
r_sensor.close()
from gpiozero import Robot, MotionSensor from signal import pause robot = Robot(left=(4, 14), right=(17, 18)) pir = MotionSensor(5) robot.source = zip(pir.values, pir.values) pause()
from gpiozero import Robot
from bluedot import BlueDot
from signal import pause
def pos_to_values(x, y):
left = y if x > 0 else y + x
right = y if x < 0 else y - x
return (clamped(left), clamped(right))
def clamped(v):
return max(-1, min(1, v))
def drive():
while True:
if bd.is_pressed:
x, y = bd.position.x, bd.position.y
yield pos_to_values(x, y)
else:
yield (0, 0)
robot = Robot(left=(4, 14), right=(17, 18))
bd = BlueDot()
robot.source = drive()
pause()
from guizero import *
from gpiozero import Robot
robot = Robot((2, 3), (4, 5))
app = App("Robot controller", layout="grid")
Text(app, "Left", grid=[0, 0])
left = Slider(app, start=100, end=-100, grid=[1, 0], horizontal=False)
right = Slider(app, start=100, end=-100, grid=[2, 0], horizontal=False)
Text(app, "Right", grid=[3, 0])
def scaled(slider):
while True:
yield slider.value / 100
robot.source = zip(scaled(left), scaled(right))
app.display()
from gpiozero import Robot, Motor, MotionSensor from gpiozero.tools import zip_values from signal import pause robot = Robot(left=Motor(4, 14), right=Motor(17, 18)) pir = MotionSensor(5) robot.source = zip_values(pir, pir) pause()
from gpiozero import Robot, MCP3008 from gpiozero.tools import scaled from signal import pause robot = Robot(left=(4, 14), right=(17, 18)) left_pot = MCP3008(0) right_pot = MCP3008(1) robot.source = zip(scaled(left_pot, -1, 1), scaled(right_pot, -1, 1)) pause()
from gpiozero import Robot, Motor, MCP3008 from gpiozero.tools import zip_values from signal import pause robot = Robot(left=Motor(4, 14), right=Motor(17, 18)) left_pot = MCP3008(0) right_pot = MCP3008(1) robot.source = zip_values(left_pot, right_pot) pause()
from gpiozero import Robot
from bluedot import BlueDot
from signal import pause
def pos_to_values(x, y):
left = y if x > 0 else y + x
right = y if x < 0 else y - x
return (clamped(left), clamped(right))
def clamped(v):
return max(-1, min(1, v))
def drive():
while True:
if bd.is_pressed:
x, y = bd.position.x, bd.position.y
yield pos_to_values(x, y)
else:
yield (0, 0)
robot = Robot(left=(4, 14), right=(17, 18))
bd = BlueDot()
robot.source = drive()
pause()
from gpiozero import Robot, MCP3008 from gpiozero.tools import scaled from signal import pause robot = Robot(left=(4, 14), right=(17, 18)) left = MCP3008(0) right = MCP3008(1) robot.source = zip(scaled(left.values, -1, 1), scaled(right.values, -1, 1)) pause()
