MoveBlackRobot.py 文件源码

def __init__(self):

        print('init robot gpio')
        # set up hardware
        gpio.setmode(gpio.BOARD)        # use pin numbers not gpio numbers


        # wheels ( 4 wheel motors )
        self.reverse_left = 38
        self.reverse_right = 35
        self.forward_left = 40
        self.forward_right = 37

        gpio.setup(self.reverse_left, gpio.OUT)  
        gpio.setup(self.forward_left, gpio.OUT)  
        gpio.setup(self.forward_right, gpio.OUT) 
        gpio.setup(self.reverse_right, gpio.OUT) 

        self.wheel_pulse = 0.2
        #self.actions = ['forward', 'reverse', 'turn_left', 'turn_right', 'hard_left', 'hard_right']
        self.actions = ['forward', 'reverse', 'hard_left', 'hard_right']