在安卓下控制基于树莓派的小车 皆用python实现

参照了lessisawesome的文章，http://blog.csdn.net/maninbehind/article/details/9715137

小车端（即树莓派），记得装RPI GPIO python

import RPi.GPIO as GPIO  #GPIO package
from socket import *
import sys
import time
#import car

# for example
# GPIO.setmode(GPIO.BOARD) #set mode
# GPIO.setup(13, GPIO.OUT) #set gpio in or out
# GPIO.setup(15, GPIO.OUT) #set gpio in or out
# GPIO.output(13, GPIO.HIGH) #set out HIGH or LOW
# GPIO.output(15, GPIO.LOW) #set out HIGH or LOW

class Wheel:
pins ={'a':[13,15],'b':[16,18],'c':[19,21],'d':[22,24]}# four (wheel-gpio prot)   dict
def __init__(self,name):
self.name = name
self.pin = Wheel.pins[self.name]
GPIO.setmode(GPIO.BOARD)
GPIO.setup(self.pin[0],GPIO.OUT)
GPIO.setup(self.pin[1],GPIO.OUT)
self.stop()
def forward(self):
GPIO.output(self.pin[0],GPIO.HIGH)
GPIO.output(self.pin[1],GPIO.LOW)
def stop(self):
GPIO.output(self.pin[0],False)
GPIO.output(self.pin[1],False)
def back(self):
GPIO.output(self.pin[0],False)
GPIO.output(self.pin[1],True)

class Car:
wheels=[Wheel('a'),Wheel('b'),Wheel('c'),Wheel('d')]
@staticmethod
def init():
GPIO.setmode(GPIO.BOARD)
@staticmethod
def forward():
for wheel in Car.wheels:
wheel.forward()
@staticmethod
def back():
for wheel in Car.wheels:
wheel.back()

@staticmethod
def left():
Car.wheels[0].forward()
Car.wheels[1].forward()
Car.wheels[3].back()
Car.wheels[2].back()
@staticmethod
def right():
Car.wheels[2].forward()
Car.wheels[3].forward()
Car.wheels[0].back()
Car.wheels[1].back()
@staticmethod
def stop():
Car.wheels[0].stop()
Car.wheels[1].stop()
Car.wheels[3].stop()
Car.wheels[2].stop()
#########################################################

commands ={'forward':Car.forward,
'back':Car.back,
'stop':Car.stop,
'left':Car.left,
'right':Car.right
}

def execute(command):
print command
commands[command]()

HOST ='10.1.1.190' #the ip of rapberry pi
PORT = 8888
s= socket(AF_INET, SOCK_STREAM)
s.bind((HOST, PORT))
s.listen(1)
print ('listening on 8888')
while 1:
conn, addr = s.accept()
print ('Connected by:', addr)
while 1:
command= conn.recv(1024).replace('\n','')
if not command:break
execute(command)
conn.close()

手机端，记得装qpython这个python环境

#-*- coding:utf-8 -*-
import kivy
from kivy.lang import Builder
from kivy.uix.gridlayout import GridLayout
from kivy.app import App
from kivy.uix.widget import Widget
from kivy.uix.button import Button
from socket import *

host = '10.1.1.190'
port = 8888
bufsiz =1024
addr = (host, port)

def SendComand(cmd):
s=socket(AF_INET, SOCK_STREAM)
s.connect(addr)
s.send(cmd)
s.close

Builder.load_string('''
<CarControlScreen>:
cols: 1
Button:
text: 'forward'
on_release: root.forward()
Button:
text: 'back'
on_release: root.back()
Button:
text: 'left'
on_release: root.left()
Button:
text: 'right'
on_release: root.right()
Button:
text: 'stop'
on_release: root.stop()
''')

class CarControlScreen(GridLayout):
def left(self):
print "Left"
SendComand('left')

def right(self):
print "Right"
SendComand('right')

def forward(self):
print "forward"
SendComand('forward')

def back(self):
print "back"
SendComand('back')

def stop(self):
print "Stop"
SendComand('stop')

class myApp(App):
def build(self):
return CarControlScreen()

if __name__ == '__main__':
myApp().run()