基于ESP32的microPython开发的智能小车
2024-04-11 06:17:24
第一课
点亮led
#外设LED闪烁
from machine import Pin
import time
led = Pin(22,Pin.OUT)
while True:led.on()time.sleep(1)led.off()time.sleep_ms(500)led.value(1)time.sleep_us(1000000)led.value(0)time.sleep(0.5)流水灯
from machine import Pin
import timeled0 = Pin(21,Pin.OUT)
led1 = Pin(22,Pin.OUT)
led2 = Pin(23,Pin.OUT)while True:led0.value(1) #点亮ledtime.sleep(1)led0.value(0) #熄灭ledtime.sleep(1)led1.value(1)time.sleep(1)led1.value(0)time.sleep(1)led2.value(1)time.sleep(1)led2.value(0)time.sleep(1)从1数到3
from machine import Pin
import timeled0 = Pin(32,Pin.OUT)
led1 = Pin(33,Pin.OUT)
led2 = Pin(25,Pin.OUT)while True:led0.on()time.sleep(0.5)led1.on()time.sleep(0.5)led1.on()time.sleep(0.5)led0.off()led1.off()led2.off()按键控制led
import machineled = machine.Pin(32,machine.Pin.OUT)
button = machine.Pin(0,machine.Pin.IN)while True:if(button.value()==0):led.value(0)else:led.value(1)
第二课
## pwm
>>> from machine import PWM,Pin
>>> p22 = Pin(22,Pin.OUT)
>>> pwm = PWM(p22)
>>> pwm
PWM(22, freq=100, duty=736)
>>> pwm.freq(500)
>>> pwm.duty(512)
>>> pwm
PWM(22, freq=500, duty=512)呼吸灯
from machine import Pin,PWM
import timep22 = Pin(22,Pin.OUT)
#构建PWM对象pwm_LED
pwm_led = PWM(p22,)
#设置pwm_led频率
pwm_led.freq(100) #1/T表示时间
#占空比
duty=0 #占空比为0是电压为0.灯泡不亮
while True:while duty<1008:duty=duty+16time.sleep_ms(10) #延时10mspwm_led.duty(duty)while duty>0:duty=duty-16time.sleep_ms(10)pwm_led.duty(duty)练习题
import machineled = machine.Pin(32,machine.Pin.OUT)
button = machine.Pin(0,machine.Pin.IN)while True:if(button.value()==0):led.value(0)else:led.value(1)边沿出发中断
### boot 按键按下led状态与前一次按键相反from machine import Pin
import timeled = Pin(2,Pin.OUT)
button = Pin(21,Pin.IN,Pin.PULL_UP)mode = 0
def handler_interrupt(pin):global modeled.value(not led.value())if(mode<4):mode = mode + 1else:mode = 0print(mode)def get_mode():button.irq(trigger=Pin.IRQ_FALLING,handler=handler_interrupt)return modewhile 1:if get_mode():breakwhile 1:mode = get_mode()if mode==1:#tracing()print("tracing mode")elif mode==2:#avoid_obstacle()print("avoid obstacle mode")else:#stop()print("stop mode")第三课
motor
from machine import Pin,PWM
import timedef gpio_init():global motor1global motor2motor1 = Pin(15,Pin.OUT)motor2 = Pin(2,Pin.OUT)#led = Pin(22,Pin.OUT)def simple_motor():gpio_init()motor1.value(0)motor2.value(1)#led.on()def spin_clockwise():motor1.value(0)motor2.value(1)def spin_anticlockwise():motor1.value(1)motor2.value(0)def stop():motor1.value(0)motor2.value(0)def smart_motor():gpio_init()spin_clockwise()time.sleep(10)spin_anticlockwise()time.sleep(10)stop()
car
from machine import Pin
import time# 设置管脚PIN
motro_left1 = Pin(15,Pin.OUT)
motro_left2 = Pin(2,Pin.OUT)
motro_right1 = Pin(16,Pin.OUT)
motro_right2 = Pin(4,Pin.OUT) #方向函数
def turn_left():motro_left1.value(0) # 输出高电平motro_left2.value(0)motro_right1.value(1) # 输出高电平motro_right2.value(0)
def turn_right():motro_left1.value(1) # 输出高电平motro_left2.value(0)motro_right1.value(0) # 输出高电平motro_right2.value(0)
def forward():motro_left1.value(1) # 输出高电平motro_left2.value(0)motro_right1.value(1) # 输出高电平motro_right2.value(0)
def backward():motro_left1.value(0) # 输出高电平motro_left2.value(1)motro_right1.value(0) # 输出高电平motro_right2.value(1)
def stop():motro_left1.value(0) # 输出高电平motro_left2.value(0)motro_right1.value(0) # 输出高电平motro_right2.value(0)def smart_car():forward()time.sleep(5)stop()turn_left()time.sleep(1)stop()turn_right()time.sleep(1)stop()backward()time.sleep(5)stop()
红外使用
from machine import Pin
from time import sleepinfared = Pin(5,Pin.IN)
led = Pin(22,Pin.OUT)
while True:if infared.value()==0: # 检测到障碍物print('检测到障碍物')led.on()else:print('没有检测到障碍物')led.on()sleep(1)第四课
pwm_motor
from machine import Pin,PWM
import timedef setup():global motor1global motor2motor1 = PWM(Pin(15,Pin.OUT),freq=20000, duty=0)motor2 = PWM(Pin(2,Pin.OUT),freq=20000, duty=0)
def fast():motor1.duty(1023)motor2.duty(0)
def slow():motor1.duty(768)motor2.duty(0)
def acw():motor1.duty(0)motor2.duty(768)
def stop():motor1.duty(0)motor2.duty(0)def smart_motor():setup()slow()time.sleep(10)fast()time.sleep(10)acw()time.sleep(10)stop()
pwm_car
from machine import Pin, PWM
from utime import sleep# 设置管脚PIN
left1_pin = 15
left2_pin = 2
right1_pin = 16
right2_pin = 4def motor_setup():global motro_left1global motro_left2global motro_right1 global motro_right2motro_left1 = PWM(Pin(left1_pin), freq=20000, duty=0) # 创建motor pwm对象，设置为输出模式 motro_left2 = PWM(Pin(left2_pin),freq=20000, duty=0)motro_right1 = PWM(Pin(right1_pin),freq=20000, duty=0) motro_right2 = PWM(Pin(right2_pin),freq=20000, duty=0)#方向函数
def turn_left():motro_left1.duty(400) # 输出高电平motro_left2.duty(0)motro_right1.duty(780) # 输出高电平motro_right2.duty(0)
def turn_right():motro_left1.duty(780) # 输出高电平motro_left2.duty(0)motro_right1.duty(400) # 输出高电平motro_right2.duty(0)
def fast_forward():motro_left1.duty(1000) # 输出高电平motro_left2.duty(0)motro_right1.duty(1000) # 输出高电平motro_right2.duty(0)
def slow_forward():motro_left1.duty(780) # 输出高电平motro_left2.duty(0)motro_right1.duty(780) # 输出高电平motro_right2.duty(0)
def backward():motro_left1.duty(0) # 输出高电平motro_left2.duty(780)motro_right1.duty(0) # 输出高电平motro_right2.duty(780)
def stop():motro_left1.duty(0) # 输出高电平motro_left2.duty(0)motro_right1.duty(0) # 输出高电平motro_right2.duty(0)def smart_car():slow_forward()sleep(5)#stop()fast_forward()sleep(5)#stop()turn_left()sleep(1)#stop()turn_right()sleep(1)#stop()backward()sleep(5)stop()class 5
避障小车
from machine import Pin, PWM
from utime import sleep# 设置管脚PIN
left1_pin = 15
left2_pin = 2
right1_pin = 16
right2_pin = 4
avoid_left_pin = 26 #寻迹 22
avoid_right_pin = 25 #23def motor_setup():global motro_left1global motro_left2global motro_right1 global motro_right2motro_left1 = PWM(Pin(left1_pin), freq=20000, duty=0) # 创建motor pwm对象，设置为输出模式 motro_left2 = PWM(Pin(left2_pin),freq=20000, duty=0)motro_right1 = PWM(Pin(right1_pin),freq=20000, duty=0) motro_right2 = PWM(Pin(right2_pin),freq=20000, duty=0)
#寻迹避障等gpio初始化
def gpio_setup():global avoid_leftglobal avoid_rightavoid_left = Pin(avoid_left_pin,Pin.IN)avoid_right = Pin(avoid_right_pin,Pin.IN)#方向函数
def turn_left():motro_left1.duty(400) # 输出高电平motro_left2.duty(0)motro_right1.duty(780) # 输出高电平motro_right2.duty(0)
def turn_right():motro_left1.duty(780) # 输出高电平motro_left2.duty(0)motro_right1.duty(400) # 输出高电平motro_right2.duty(0)
def fast_forward():motro_left1.duty(1000) # 输出高电平motro_left2.duty(0)motro_right1.duty(1000) # 输出高电平motro_right2.duty(0)
def slow_forward():motro_left1.duty(780) # 输出高电平motro_left2.duty(0)motro_right1.duty(780) # 输出高电平motro_right2.duty(0)
def backward():motro_left1.duty(0) # 输出高电平motro_left2.duty(780)motro_right1.duty(0) # 输出高电平motro_right2.duty(780)
def stop():motro_left1.duty(0) # 输出高电平motro_left2.duty(0)motro_right1.duty(0) # 输出高电平motro_right2.duty(0)def avoid_obstacle():if avoid_left.value()==0 and avoid_right.value()==1 : #前方任何一个红外遇到黑色（障碍物）backward()print('backward')sleep(1)turn_right()print('turn right')sleep(0.5)slow_forward()print('forward')elif avoid_left.value()==1 and avoid_right.value()==0 : #前方任何一个红外遇到黑色（障碍物）backward()print('backward')sleep(1)turn_left()print('turn left')sleep(0.5)slow_forward()print('forward')elif avoid_left.value()==0 and avoid_right.value()==0 : #前方任何一个红外遇到黑色（障碍物）backward()print('backward')sleep(1)slow_forward()print('forward')else:slow_forward()print('forward')if __name__=='__main__':motor_setup()gpio_setup()while True:avoid_obstacle()按键控制寻迹避障小车
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
# －－－－极光编程－－－－
# 文件名：motor.py
# 版本：V2.0
# author: Jessy
# 说明：智能小车实验
#####################################################
from machine import Pin, PWM
from utime import sleep# 设置管脚PIN
left1_pin = 15
left2_pin = 2
right1_pin = 16 #5
right2_pin = 4
avoid_left_pin = 5 #寻迹 22
avoid_right_pin = 17 #23
follow_left_pin = 19 #避障
follow_right_pin = 18
mode_pin = 21
redLED_pin = 22
blueLED_pin = 23#motor初始化
def motor_setup():global motro_left1global motro_left2global motro_right1 global motro_right2motro_left1 = PWM(Pin(left1_pin), freq=20000, duty=0) # 创建motor pwm对象，设置为输出模式 motro_left2 = PWM(Pin(left2_pin),freq=20000, duty=0)motro_right1 = PWM(Pin(right1_pin),freq=20000, duty=0) motro_right2 = PWM(Pin(right2_pin),freq=20000, duty=0)# 初始化寻迹避障模块GPIO口
def gpio_setup():global avoid_leftglobal avoid_rightglobal follow_leftglobal follow_rightglobal mode_buttonglobal led_redglobal led_blueavoid_left = Pin(avoid_left_pin,Pin.IN)avoid_right = Pin(avoid_right_pin,Pin.IN)follow_left = Pin(follow_left_pin,Pin.IN,Pin.PULL_UP)follow_right = Pin(follow_right_pin,Pin.IN,Pin.PULL_UP)mode_button = Pin(mode_pin,Pin.IN,Pin.PULL_UP)led_red = Pin(redLED_pin,Pin.OUT)led_blue = Pin(blueLED_pin,Pin.OUT)#方向函数
def turn_left():motro_left1.duty(380) # 输出高电平 400motro_left2.duty(0)motro_right1.duty(680) # 输出高电平motro_right2.duty(0)
def turn_right():motro_left1.duty(680) # 输出高电平motro_left2.duty(0)motro_right1.duty(380) # 输出高电平motro_right2.duty(0)
def fast_forward():motro_left1.duty(1000) # 输出高电平motro_left2.duty(0)motro_right1.duty(1000) # 输出高电平motro_right2.duty(0)
def slow_forward():motro_left1.duty(780) # 输出高电平motro_left2.duty(0)motro_right1.duty(780) # 输出高电平motro_right2.duty(0)
def backward():motro_left1.duty(0) # 输出高电平motro_left2.duty(780)motro_right1.duty(0) # 输出高电平motro_right2.duty(780)
def stop():motro_left1.duty(0) # 输出高电平motro_left2.duty(0)motro_right1.duty(0) # 输出高电平motro_right2.duty(0)def tracing():slow_forward()if follow_left.value()==1 and follow_right.value()==0:turn_left()print('Black line is detected on the left,turn left')elif follow_left.value()==0 and follow_right.value()==1:turn_right()print('Black line is detected on the ritht,turn right')else:slow_forward()print('forward')def avoid_obstacle():if avoid_left.value()==0 and avoid_right.value()==1 : #前方任何一个红外遇到黑色（障碍物）backward()print('backward')sleep(1)turn_right()print('turn right')sleep(0.5)slow_forward()print('forward')elif avoid_left.value()==1 and avoid_right.value()==0 : #前方任何一个红外遇到黑色（障碍物）backward()print('backward')sleep(1)turn_left()print('turn left')sleep(0.5)slow_forward()print('forward')elif avoid_left.value()==0 and avoid_right.value()==0 : #前方任何一个红外遇到黑色（障碍物）backward()print('backward')sleep(1)slow_forward()print('forward')else:slow_forward()print('forward')
def led_show():if mode==1: #寻迹模式led_red.on()led_blue.off()elif mode==2: #避障模式led_red.off()led_blue.on()else:led_red.off()led_blue.off()#通过红外模块获取方向
#红外传感器，二极管不断发射红外线，遇到白色反射回来，红外接收管饱和，输出低电平，否则输出高电平
# (black line:1,white line:0)def handler_interrupt(pin):global modeif(mode<2):mode = mode + 1else:mode = 0print("mode:",mode,end='\t')
def get_mode():mode_button.irq(trigger=Pin.IRQ_FALLING,handler=handler_interrupt)return mode#主程序
mode = 0
motor_setup()
gpio_setup()
# 按键监听
while True:if get_mode():breakwhile True:mode = get_mode()if mode==1:tracing()led_show()print("tracing mode",end="\t")elif mode==2:avoid_obstacle()led_show()print("avoid obstacle mode",end="\t")else:stop()led_show()breakprint("break",end="\t")红外遥控小车
1、将一下代码下载至esp32开发板并命名为：myIRremote.py
# from machine import Pin
# import configs
import os
import machine
import utime
import micropython
import ujson
from machine import Pin, PWM
micropython.alloc_emergency_exception_buf(100)'''
无重复：
[9047, 4488, 554, 573, 558, 626, 556, 599, 558, 598, 558, 599, 557, 600, 532,
625, 532, 624, 558, 1672, 582, 1624, 554, 1698, 534, 1693, 533, 1697, 558, 1648,
555, 1696, 559, 1670, 557, 1671, 558, 598, 559, 1670, 558, 599, 582, 550, 582,
598, 559, 1671, 532, 623, 557, 600, 586, 1614, 562, 624, 557, 1645, 584, 1672,
558, 1671, 559, 573, 557, 1696, 557]
有重复
[9072, 4492, 535, 601, 535, 600, 581, 571, 588, 596, 559, 572, 586, 596, 535,
622, 534, 597, 586, 1669, 581, 1669, 535, 1696, 585, 1644, 534, 1696, 559, 1670,
534, 1696, 558, 1673, 559, 1645, 610, 572, 560, 1670, 534, 629, 554, 570, 587,
573, 558, 1696, 559, 598, 533, 624, 558, 1671, 533, 623, 560, 1643, 588, 1642,
561, 1696, 533, 623, 560, 1671, 559, 39230, 9049, 2246, 583, 95490, 9027, 2265,
534, 95509, 9023, 2268, 559, 95482, 9014, 2269, 533, 95514, 9019, 2268, 585, 95443,
9041, 2268, 559, 95467, 9043, 2271, 531, 95495, 9043, 2247, 581, 95490, 9020,
2243, 559, 95517, 9043, 2246, 558, 95492, 9042, 2244, 559, 95492, 9017, 2268, 534,
95490, 9046, 2269, 537, 95516, 9041, 2243, 535, 95517, 9089, 2152, 579, 95489,
9044, 2244, 585, 95492, 9025, 2269, 585]
'''class IR(object):CODE = {162: "1", 98: "2", 226: "3", 34: "4", 2: "5", 194: "6", 224: "7", 168: "8", 144: "9",152: "0", 104: "*", 176: "#", 24: "up", 74: "down", 16: "left", 90: "right", 56: "ok"}def __init__(self, gpioNum):self.irRecv = machine.Pin(gpioNum, machine.Pin.IN, machine.Pin.PULL_UP)self.irRecv.irq(trigger=machine.Pin.IRQ_RISING | machine.Pin.IRQ_FALLING,handler=self.__logHandler)self.ir_step = 0self.ir_count = 0self.buf64 = [0 for i in range(64)]self.recived_ok = Falseself.cmd = Noneself.cmd_last = Noneself.repeat = 0self.repeat_last = Noneself.t_ok = Noneself.t_ok_last = Noneself.start = 0self.start_last = 0 self.changed = Falsedef __logHandler(self, source):thisComeInTime = utime.ticks_us()# 更新时间curtime = utime.ticks_diff(thisComeInTime, self.start)self.start = thisComeInTimeif curtime >= 8500 and curtime <= 9500:self.ir_step = 1returnif self.ir_step == 1:if curtime >= 4000 and curtime <= 5000:self.ir_step = 2self.recived_ok = Falseself.ir_count = 0self.repeat = 0elif curtime >= 2000 and curtime <= 3000: # 长按重复接收self.ir_step = 3self.repeat += 1elif self.ir_step == 2: # 接收4个字节self.buf64[self.ir_count] = curtimeself.ir_count += 1if self.ir_count >= 64:self.recived_ok = Trueself.t_ok = self.start #记录最后ok的时间self.ir_step = 0elif self.ir_step == 3: # 重复if curtime >= 500 and curtime <= 650:self.repeat += 1# elif self.ir_step == 4: # 结束码，若果没有结束码有可能收到重复码再从step=1开始# if curtime >= 500 and curtime <= 650:# self.ir_step = 0def __check_cmd(self):byte4 = 0for i in range(32):x = i * 2t = self.buf64[x] + self.buf64[x+1]byte4 <<= 1if t >= 1800 and t <= 2800:byte4 += 1user_code_hi = (byte4 & 0xff000000) >> 24user_code_lo = (byte4 & 0x00ff0000) >> 16data_code = (byte4 & 0x0000ff00) >> 8data_code_r = byte4 & 0x000000ffself.cmd = data_codedef scan(self): # 接收到数据if self.recived_ok:self.__check_cmd()self.recived_ok = False#数据有变化if self.cmd != self.cmd_last or self.repeat != self.repeat_last or self.t_ok != self.t_ok_last:self.changed = Trueelse:self.changed = False#更新self.cmd_last = self.cmdself.repeat_last = self.repeatself.t_ok_last = self.t_ok#对应按钮字符s = self.CODE.get(self.cmd)return self.changed, s, self.repeat, self.t_ok2、以下为main函数
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
# －－－－极光编程－－－－
# 文件名：motor.py
# 版本：V2.0
# author: Jessy
# 说明：智能小车实验
#####################################################
from machine import Pin, PWM
import machine
from utime import sleep
from myIRremote import IR# 设置管脚PIN
left1_pin = 13
left2_pin = 12
right1_pin = 14 #5
right2_pin = 27
avoid_left_pin = 26 #寻迹 22
avoid_right_pin = 25 #23
follow_left_pin = 33 #避障
follow_right_pin = 32
mode_pin = 35
IRremote_pin = 34
redLED_pin = 15
blueLED_pin = 2
yellowLED_pin = 4
#buzzer_pin = 33#motor初始化
def motor_setup():global motro_left1global motro_left2global motro_right1 global motro_right2motro_left1 = PWM(Pin(left1_pin), freq=20000, duty=0) # 创建motor pwm对象，设置为输出模式 motro_left2 = PWM(Pin(left2_pin),freq=20000, duty=0)motro_right1 = PWM(Pin(right1_pin),freq=20000, duty=0) motro_right2 = PWM(Pin(right2_pin),freq=20000, duty=0)# 初始化寻迹避障模块GPIO口
def gpio_setup():global avoid_leftglobal avoid_rightglobal follow_leftglobal follow_rightglobal mode_buttonglobal led_redglobal led_blueglobal led_yellowavoid_left = Pin(avoid_left_pin,Pin.IN)avoid_right = Pin(avoid_right_pin,Pin.IN)follow_left = Pin(follow_left_pin,Pin.IN,Pin.PULL_UP)follow_right = Pin(follow_right_pin,Pin.IN,Pin.PULL_UP)mode_button = Pin(mode_pin,Pin.IN,Pin.PULL_UP)led_red = Pin(redLED_pin,Pin.OUT)led_blue = Pin(blueLED_pin,Pin.OUT)led_yellow = Pin(yellowLED_pin,Pin.OUT)
#方向函数
def turn_left():motro_left1.duty(380) # 输出高电平 400motro_left2.duty(0)motro_right1.duty(680) # 输出高电平motro_right2.duty(0)
def turn_right():motro_left1.duty(680) # 输出高电平motro_left2.duty(0)motro_right1.duty(380) # 输出高电平motro_right2.duty(0)
def fast_forward():motro_left1.duty(1000) # 输出高电平motro_left2.duty(0)motro_right1.duty(1000) # 输出高电平motro_right2.duty(0)
def middle_forward():motro_left1.duty(840) # 输出高电平motro_left2.duty(0)motro_right1.duty(840) # 输出高电平motro_right2.duty(0)
def slow_forward():motro_left1.duty(780) # 输出高电平motro_left2.duty(0)motro_right1.duty(780) # 输出高电平motro_right2.duty(0)
def backward():motro_left1.duty(0) # 输出高电平motro_left2.duty(780)motro_right1.duty(0) # 输出高电平motro_right2.duty(780)
def stop():motro_left1.duty(0) # 输出高电平motro_left2.duty(0)motro_right1.duty(0) # 输出高电平motro_right2.duty(0)def tracing():slow_forward()if follow_left.value()==1 and follow_right.value()==0:turn_left()print('Black line is detected on the left,turn left')elif follow_left.value()==0 and follow_right.value()==1:turn_right()print('Black line is detected on the ritht,turn right')else:slow_forward()print('forward')def avoid_obstacle():if avoid_left.value()==0 and avoid_right.value()==1 : #前方任何一个红外遇到黑色（障碍物）backward()print('backward')sleep(1)turn_right()print('turn right')sleep(0.5)slow_forward()print('forward')elif avoid_left.value()==1 and avoid_right.value()==0 : #前方任何一个红外遇到黑色（障碍物）backward()print('backward')sleep(1)turn_left()print('turn left')sleep(0.5)slow_forward()print('forward')elif avoid_left.value()==0 and avoid_right.value()==0 : #前方任何一个红外遇到黑色（障碍物）backward()print('backward')sleep(1)slow_forward()print('forward')else:slow_forward()print('forward')def ir_control():stop()machine.freq(160000000)state = 0ir = IR(IRremote_pin)changed, s, repeat, ir_ok = ir.scan()if changed == True:if repeat >= 2:if s == 'up' and state != 1:state = 1slow_forward() print("state1"," up")elif s == 'down' and state != 2:state = 2backward() print("state2"," down")elif s == 'left' and state != 3:state = 3turn_left() print("state3"," left")elif s == 'right' and state != 4:state = 4turn_right() print("state4"," right")else:if state != 0:state = 0stop() print("state0")sleep(0.2)def led_show():if mode==1: #寻迹模式led_red.on()led_blue.off()led_yellow.off()elif mode==2: #避障模式led_red.off()led_blue.on()led_yellow.off()elif mode==3:led_red.off()led_blue.off()led_yellow.on()else:led_red.off()led_blue.off()led_yellow.off()#通过红外模块获取方向
#红外传感器，二极管不断发射红外线，遇到白色反射回来，红外接收管饱和，输出低电平，否则输出高电平
# (black line:1,white line:0)def handler_interrupt(pin):global modeif(mode<3):mode = mode + 1else:mode = 0print("mode:",mode,end='\t')
def get_mode():mode_button.irq(trigger=Pin.IRQ_FALLING,handler=handler_interrupt)return mode#主程序
mode = 0
motor_setup()
gpio_setup()
while True:if get_mode():breakwhile True:mode = get_mode()if mode==1:tracing()led_show()print("tracing mode",end="\t")elif mode==2:avoid_obstacle()led_show()print("avoid obstacle mode",end="\t")elif mode==3:ir_control()led_show()print("IRremote control mode",end="\t")else:stop()led_show()breakprint("break",end="\t")
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