Run-Test 电机测试
Joystick 程序 五向摇杆
IR 程序 红外遥控器控制
Infrared-Obstacle-Avoidancec 红外避障
Ultrasionc-Obstacle-Avoidance 超声波避障
Ultrasionc-Infrared-Obstacle-Avoidance 超声波红外避障
Ultrasionc_Ranging 超声波测距
TRSensors 寻迹传感器测试
Infrared-Line-Tracking 红外寻迹
W2812 RGB彩灯
OLED 绘图操作demo
Line-Tracking 综合程序
MazeSolver 迷宫程序
Bluetooth 蓝牙控制
Bluetooth-json 蓝牙控制(json格式)
树莓派控制程序(AlphaBot2.tar.gz):
wget <span class="hljs-symbol">http:</span>/<span class="hljs-regexp">/www.waveshare.net/w</span><span class="hljs-regexp">/upload/e</span><span class="hljs-regexp">/ee/</span><span class="hljs-constant">AlphaBot2</span>-<span class="hljs-constant">Demo</span>.<span class="hljs-number">7</span>z
wget <span class="hljs-symbol">http:</span>/<span class="hljs-regexp">/www.waveshare.net/w</span><span class="hljs-regexp">/upload/c</span><span class="hljs-regexp">/c3/</span><span class="hljs-constant">Rpi_ws281x</span>-master.zip
gpio
git <span class="hljs-built_in">clone</span> git://git.drogon.net/wiringPi
<span class="hljs-built_in">cd</span> wiringPi
./build
gpio -v
gpio readall
红外遥控器控制
<span class="hljs-built_in">cd</span> ~/AlphaBot2/python
python IRremote.py
电机测试
<span class="hljs-built_in">cd</span> ~/AlphaBot2/python
python AlphaBot2.py
五向摇杆
<span class="hljs-built_in">cd</span> ~/AlphaBot2/python
python Joystick.py
红外避障
<span class="hljs-built_in">cd</span> ~/AlphaBot2/python
python Infrared_Obstacle_Avoidance.py
超声波测距（树莓派 3B 套餐不包含超声波模块）
<span class="hljs-built_in">cd</span> ~/AlphaBot2/python
python Ultrasonic_Rangeing.py
超声波测距（树莓派 3B 套餐不包含超声波模块）
<span class="hljs-built_in">cd</span> ~/AlphaBot2/python
python Infrared_Obstacle_Avoidance.py
RGB 彩灯
rpi_ws281x-master.zip
unzip rpi_ws281x-master.zip
apt-get install build-essential python-dev scons swig
<span class="hljs-built_in">cd</span> rpi_ws281x-master
scons
./<span class="hljs-built_in">test</span>
<span class="hljs-built_in">cd</span> python
python setup.py install
<span class="hljs-built_in">cd</span> examples
python lowlevel.py
<span class="hljs-built_in">cd</span> ~/AlphaBot2/python
python ws2812.py
循迹传感器测试
<span class="hljs-built_in">cd</span> ~/AlphaBot2/python
python TRSensors.py
红外循迹程序
<span class="hljs-built_in">cd</span> ~/AlphaBot2/python
python LineFollow.py
舵机
<span class="hljs-built_in">cd</span> ~/AlphaBot2/python
python PCA9685.py
mjpg-streamer 软件实时监控
a,raspi-config 开启摄像头
b,<span class="hljs-regexp">/etc/modules</span> 添加一行<span class="hljs-symbol">:bcm2835-v4l2</span>
c,重启后,ls -ltr /dev/video<span class="hljs-number">0</span>
(若无,rpi-update)
cd <span class="hljs-constant">AlphaBot2</span>/lib/mjpg-streamer
./start
<span class="hljs-symbol">http:</span>/<span class="hljs-regexp">/ip:8080/</span>
通过 webiopi 实现远程遥控
<span class="hljs-built_in">cd</span> AlphaBot2/lib/WebIOPi-<span class="hljs-number">0.7</span>.<span class="hljs-number">1</span>-raspi2
./setup.sh
webiopi -h
webiopi <span class="hljs-operator">-d</span> -c /etc/webiopi/config
http://ip:<span class="hljs-number">8000</span>
mjpg-AlphaBot 目录，修改视频源 IP:
<span class="hljs-built_in">cd</span> ./AlphaBot2/mjpg-AlphaBot/
vim index.html
http://x.x.x.x:<span class="hljs-number">8080</span>/?action=stream
<span class="hljs-built_in">cd</span> ./AlphaBot2/mjpg-AlphaBot
webiopi -c config
http://x.x.x.x:<span class="hljs-number">8000</span>/
./AlphaBot2/mjpg-AlphaBot/mjpg-AlphaBot
webiopi -c config
设置开机启动：
<span class="hljs-built_in">cd</span> ./AlphaBot2/mjpg-AlphaBot
cp config /etc/webiopi/config
update-rc.d webiopi defaults
vim /etc/rc.local:
<span class="hljs-built_in">cd</span> /home/pi/AlphaBot2/lib/mjpg-streamer
./start.sh &
通过 Bottle 实现远程遥控
a.apt-<span class="hljs-keyword">get</span> install python-bottle
b.cd ~/AlphaBot2/Web-RGB
python main
c. http:<span class="hljs-comment">//ip:8000</span>
(手机端)
d.cd ~/AlphaBot2/Web-Control
vim index.html,修改真实ip:
<img width=<span class="hljs-string">"320"</span> height=<span class="hljs-string">"240"</span> src=<span class="hljs-string">"http://192.168.10.235:8080/?action=stream"</span>>
e.python main
f.http:<span class="hljs-comment">//ip:8000</span>
g.开机启动：
vim /etc/rc.local:
cd /home/pi/AlphaBot2/lib/mjpg-streamer
./start.sh &
cd /home/pi/AlphaBot2/Web-Contrl
python main &
h.vim /etc/dhcpcd.comf 设置静态 IP
<span class="hljs-keyword">interface</span> <span class="hljs-title">wlan0</span>
<span class="hljs-title">static</span> <span class="hljs-title">ip_address</span> = <span class="hljs-number">192.168</span>.1.114/<span class="hljs-number">24</span>
<span class="hljs-keyword">static</span> routers = <span class="hljs-number">192.168</span>.1.1
通过软件远程遥控小车
a.cd ~/AlphaBot2/App-Control
b.vim main.py:
Host = <span class="hljs-string">'192.168.10.235'</span>
c.python main
d.运行mjpg-streamer
e.打开 AlphaBot.exe 程序，输入 IP 地址，mjpg-stream 的端口号，小车 Soket 服务端的端口号
f.开机启动, vim /etc/rc.local:
<span class="hljs-built_in">cd</span> /home/pi/AlphaBot/lib/mjpg-streamer
./start.sh &
<span class="hljs-built_in">cd</span> /home/pi/AlphaBot/App-Contrl
python main &
g.可开启树莓派无线网络适配器的AP功能(不用连接WIFI)
通过树莓派蓝牙遥控小车
a.升级蓝牙软件包
apt-get <span class="hljs-operator"><span class="hljs-keyword">update</span>
apt-<span class="hljs-keyword">get</span> <span class="hljs-keyword">upgrade</span> -y
apt-<span class="hljs-keyword">get</span> dist-<span class="hljs-keyword">upgrade</span> -y
apt-<span class="hljs-keyword">get</span> <span class="hljs-keyword">install</span> <span class="hljs-keyword">pi</span>-bluetooth bluez bluez-firmware blueman
b.<span class="hljs-keyword">pi</span>用户到蓝牙组
usermod –G Bluetooth –a <span class="hljs-keyword">pi</span>
c.reboot
d.启动/增加 SPP，开启蓝牙设备:
vim /etc/systemd/system/dbus-org.bluez.service
ExecStart=/usr/lib/bluetooth/bluetoothd
ExecStartPost=/usr/<span class="hljs-keyword">bin</span>/sdptool <span class="hljs-keyword">add</span> SP
reboot
e.hciconfig
(如果/boot/config.txt 文件中有 dtoverlay=pi3-miniuart-bt 这语句需要注释掉)
f.bluetoothctl
agent <span class="hljs-keyword">on</span>
agent <span class="hljs-keyword">on</span>
<span class="hljs-keyword">default</span>-agent
pair XX:XX:XX:XX:XX:XX ( XX:XX:XX:XX:XX:XX 替换为你自己设备的地址)
trust XX:XX:XX:XX:XX:XX (配对之后把设备添加到信任列表)
<span class="hljs-keyword">connect</span> XX:XX:XX:XX:XX:XX
(注意：如果命令行下链接不成功可以在图形界面下连接。)
g.cd /AlphaBot2/Bluetooth-Control
rfcomm watch hci0 <span class="hljs-number">1</span> python bluetooth.py
h.下载APP(只有安卓, page <span class="hljs-number">45</span>)
https://fir.im/hysk
i.bluetoothctl
discoverable <span class="hljs-keyword">on</span>
quit</span>
