键盘控制ROS车运动

键盘控制ROS车运动

上位机

使用pyseria库与stm32单片机进行通信控制

#!/usr/bin/env python# -*- coding: utf-8 -*import sys, select, termios, tty
import serial

msg ="""
---------------------------
        w     
   a    x    d
        s     

w : +x    a : +y
s : -x    d : -y 
x : stop

其他按键 : stop

q/z : 线性速度增加/减少1RPM
e/c : 只增加/减少角速度1RPM

CTRL-C 退出
---------------------------
"""

moveBindings ={'w':'w','s':'s','a':'a','d':'d','x':'x','q':'q','z':'z','e':'e','c':'c'}defgetKey():
    tty.setraw(sys.stdin.fileno())
    select.select([sys.stdin],[],[],0)
    key = sys.stdin.read(1)
    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)return key

if __name__=="__main__":
    settings = termios.tcgetattr(sys.stdin)
    port ='/dev/ttyUSB1'# 串口号
    baud =115200# 波特率
    ser = serial.Serial(port, baud, timeout=0.5)
    flag = ser.isOpen()try:print(msg)print(port,"串口打开成功")if flag:while(1):
                key = getKey()if key in moveBindings.keys():
                    data = moveBindings[key]
                    ser.write(data.encode("gbk"))# print('串口发送数据:  ', data)else:if(key =='\x03'):breakexcept Exception as e:print(e)print("串口打开异常")

下位机

下位机采用USART1进行通信，轮毂电机的控制参考上篇文章STM32HAL库RS485-ModBus协议控制伺服电机

uint16_t data[2]={0,0};uint16_t data1[2]={-16,16};uint16_t data2[2]={6,6};uint16_t data3[2]={0,0};uint8_t RxData;intmain(void){/* USER CODE BEGIN 1 */uint16_t speed_flag, turn_flag;uint16_t speed =10;uint16_t turn =10;
  speed_flag = turn_flag =1;/* USER CODE END 1 *///....初始化省略...../* USER CODE BEGIN 2 */HAL_UART_Receive_IT(&huart1,&RxData,1);//RS485发送模式HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_SET);//电机初始化指令MBRTUMasterWriteSingleRegister(&MBRTUHandle,1,0X200D,0x0003,100);HAL_Delay(10);MBRTUMasterWriteSingleRegister(&MBRTUHandle,1,0X200E,0x0008,100);HAL_Delay(10);MBRTUMasterWriteSingleRegister(&MBRTUHandle,1,0X200E,0x0010,100);/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */while(1){/* USER CODE END WHILE *//* USER CODE BEGIN 3 */HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_SET);if(RxData =='w'||RxData =='s'||RxData =='a'||RxData =='d'||RxData =='x'||RxData =='e'||RxData =='c'||RxData =='q'||RxData =='z'){if(RxData =='w'|| RxData =='s'||RxData =='q'||RxData =='z'){if(RxData =='w') speed_flag =1;if(RxData =='s') speed_flag =-1;if(RxData =='q') speed+=10;if(RxData =='z') speed-=10;
                data[0]= speed_flag * speed;
                data[1]=-speed_flag * speed;}if(RxData =='a'||RxData =='d'||RxData =='e'||RxData =='c'){if(RxData =='a') turn_flag =1;if(RxData =='d') turn_flag =-1;if(RxData =='e') turn+=10;if(RxData =='c') turn-=10;
                data[0]= turn_flag * turn;
                data[1]= turn_flag * turn;}if(RxData =='x'){
                data[0]=0;
                data[1]=0;}//0x10指令便于给多寄存器发送指令，电机同时启动MBRTUMasterWriteMultipleRegisters(&MBRTUHandle,1,0X2088,0X0002, data,100);}
        RxData =' ';}

加入按键外部中断控制，进行测试或急停

voidHAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin){if(GPIO_Pin==WK_UP_EXTI_Pin){HAL_Delay(10);if(HAL_GPIO_ReadPin(WK_UP_EXTI_GPIO_Port, WK_UP_EXTI_Pin)==1){MBRTUMasterWriteMultipleRegisters(&MBRTUHandle,1,0X2088,0X0002, data3,100);}}elseif(GPIO_Pin==KEY0_EXTI_Pin){HAL_Delay(10);if(HAL_GPIO_ReadPin(KEY0_EXTI_GPIO_Port, KEY0_EXTI_Pin)==0){//            MBRTUMasterWriteMultipleRegisters(&MBRTUHandle, 1, 0X2088, 0X0002, data1, 100);HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_RESET);MBRTUMasterReadHoldingRegisters(&MBRTUHandle,0x01,0x20AB,0x0002,100);HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_5);}}elseif(GPIO_Pin==KEY1_EXTI_Pin){HAL_Delay(10);if(HAL_GPIO_ReadPin(KEY1_EXTI_GPIO_Port, KEY1_EXTI_Pin)==0){MBRTUMasterWriteMultipleRegisters(&MBRTUHandle,1,0X2088,0X0002, data2,100);}}}

运行结果

赋予串口权限

sudochmod777 /dev/ttyUSB*
python3 keyboard_control.py 

演示视频
键盘控制节点编写