使用手機上動作感測器控制藍芽小車

 

電路圖

 

程式列表

Thunkable程式

https://x.thunkable.com/copy/481e3e70e4ef7c5119d38bc83e974433

Python程式

from machine import Switch  #Get button KEY library from machine import Pin, LED, UART, PWM from machine import delay   class Motor:     def __init__(self):     self.motorR_pwmA = PWM(Pin.epy.PWM2, freq = 10000, duty = 0)     self.motorR_pwmB = PWM(Pin.epy.PWM3, freq = 10000, duty = 0)     self.motorL_pwmA = PWM(Pin.epy.PWM0, freq = 10000, duty = 0)     self.motorL_pwmB = PWM(Pin.epy.PWM1, freq = 10000, duty = 0)     def forward(self):     self.motorR_pwmA.duty(100)     self.motorR_pwmB.duty(0)     self.motorL_pwmA.duty(100)     self.motorL_pwmB.duty(0)     def turnLeft(self):     self.motorR_pwmA.duty(100)     self.motorR_pwmB.duty(0)     self.motorL_pwmA.duty(50)     self.motorL_pwmB.duty(0)     def turnRight(self):     self.motorR_pwmA.duty(50)     self.motorR_pwmB.duty(0)     self.motorL_pwmA.duty(100)     self.motorL_pwmB.duty(0)     def backward(self):     self.motorR_pwmA.duty(0)     self.motorR_pwmB.duty(100)     self.motorL_pwmA.duty(0)     self.motorL_pwmB.duty(100)     def backLeft(self):     self.motorR_pwmA.duty(0)     self.motorR_pwmB.duty(100)     self.motorL_pwmA.duty(0)     self.motorL_pwmB.duty(50)     def backRight(self):     self.motorR_pwmA.duty(0)     self.motorR_pwmB.duty(50)     self.motorL_pwmA.duty(0)     self.motorL_pwmB.duty(100)     def stop(self):     self.motorR_pwmA.duty(0)     self.motorR_pwmB.duty(0)     self.motorL_pwmA.duty(0)     self.motorL_pwmB.duty(0)   def XY2LR(X, Y):   if Y < -20:     if X > 20:       Car.turnRight()     elif X < -20:       Car.turnLeft()     else:       Car.forward()   elif Y > 20:     if X > 20:       Car.backRight()     elif X < -20:       Car.backLeft()     else:       Car.backward()   else :     Car.stop()   def key_int():   global KeyADone   KeyADone = True   def tick3(timer):   global TimerDone   TimerDone = True   # Start Function if __name__ == '__main__':   ledy = LED('ledy')   ledr = LED('ledr')   ledg = LED('ledg')     KeyA = Switch('keya')    #Create button A   KeyA.callback(key_int)   KeyADone = False     Car = Motor()     # Lite BLE on UART port 1, baudrate is 115200)   ble = UART(1, 115200,timeout=200)   #確保 BLE 回到  CMD mode   ble.write('!CCMD@')   delay(150)   ble.write('!CCMD@')   delay(150)   # enable BLE System MSG   ble.write('AT+EN_SYSMSG=1\r\n')   delay(50)     while True:     msg = ble.readline()     recv_data = str(msg,'utf-8') #return a data     string = recv_data.strip('\n')     string = string.split(',')     num=len(string)       print (msg,num)     if(num == 2) :       print (string[0],string[1])       XY2LR(int(string[1]), int(string[0])) #x,y       if recv_data == 'A' :       ledy.toggle()     if recv_data == 'B' :       ledr.toggle()     if recv_data == 'C' :       ledg.toggle()        if KeyADone == True:      #Press A Key       break     ble.deinit()   KeyA.callback(None)   ledY.off()   ledr.off()   ledg.off()

 

執行畫面