初始提交：龙芯2K0300智能车卖家Demo完整代码

demo1/CMakeLists.txt

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+# demo1
+add_executable(demo1 demo1.cpp)
+
+# 链接 OpenCV 库
+target_link_libraries(demo1 common_lib ${OpenCV_LIBS})

demo1/demo1.cpp

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+/*
+ * @Author: ilikara 3435193369@qq.com
+ * @Date: 2025-01-07 02:21:05
+ * @LastEditors: ilikara 3435193369@qq.com
+ * @LastEditTime: 2025-03-29 01:36:06
+ * @FilePath: /smartcar/demo1/demo1.cpp
+ * @Description: 遥控车Demo，通过键盘控制小车的运动，WASD分别控制前后左右，按下Q退出。由于SSH可能会只捕获到一个按键，所以设定按下WS时清除转向，不按WS时不清除前进后退。
+ */
+#include <iostream>
+#include <unordered_set>
+#include <termios.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+
+#include "MotorController.h"
+#include "PwmController.h"
+#include "GPIO.h"
+
+GPIO mortorEN(73);
+MotorController *motorController[2] = {nullptr, nullptr};
+PwmController servo(1, 0);
+
+void Init()
+{
+    mortorEN.setDirection("out");
+    mortorEN.setValue(1);
+    const int pwmchip[2] = {8, 8};
+    const int pwmnum[2] = {2, 1};
+    const int gpioNum[2] = {12, 13};
+    const int encoder_pwmchip[2] = {0, 3};
+    const int encoder_gpioNum[2] = {75, 72};
+    const int encoder_dir[2] = {1, -1};
+    const unsigned int period_ns = 50000; // 20 kHz
+
+    for (int i = 0; i < 2; ++i)
+    {
+        motorController[i] = new MotorController(pwmchip[i], pwmnum[i], gpioNum[i], period_ns,
+                                                 0, 0, 0, 0,
+                                                 encoder_pwmchip[i], encoder_gpioNum[i], encoder_dir[i]);
+    }
+
+    servo.setPeriod(3000000);
+    servo.setDutyCycle(1500000);
+    servo.enable();
+}
+
+// 设置非阻塞输入
+void setNonBlockingInput(bool enable)
+{
+    termios tty;
+    tcgetattr(STDIN_FILENO, &tty);
+    if (enable)
+    {
+        tty.c_lflag &= ~ICANON; // 禁用规范模式
+        tty.c_lflag &= ~ECHO;   // 禁用回显
+    }
+    else
+    {
+        tty.c_lflag |= ICANON;
+        tty.c_lflag |= ECHO;
+    }
+    tcsetattr(STDIN_FILENO, TCSANOW, &tty);
+}
+
+int main()
+{
+    std::unordered_set<char> pressedKeys;
+
+    setNonBlockingInput(true);
+    std::cout << "Press keys (WASD). Press 'q' to quit." << std::endl;
+
+    Init();
+
+    while (true)
+    {
+        char ch = getchar();
+
+        if (ch == 'q')
+        { // 按 'q' 退出
+            break;
+        }
+
+        // 添加按下的键到集合中，并响应按下的键
+        if (ch == 'w' || ch == 'W')
+        {
+            pressedKeys.insert('W');
+            motorController[0]->updateduty(17);
+            motorController[1]->updateduty(17);
+            servo.setDutyCycle(1520000);
+        }
+        else if (ch == 'a' || ch == 'A')
+        {
+            pressedKeys.insert('A');
+            servo.setDutyCycle(1360000);
+        }
+        else if (ch == 's' || ch == 'S')
+        {
+            pressedKeys.insert('S');
+            motorController[0]->updateduty(-17);
+            motorController[1]->updateduty(-17);
+            servo.setDutyCycle(1520000);
+        }
+        else if (ch == 'd' || ch == 'D')
+        {
+            pressedKeys.insert('D');
+            servo.setDutyCycle(1680000);
+        }
+
+        // 显示当前按下的键
+        std::cout << "Pressed Keys: ";
+        for (char key : pressedKeys)
+        {
+            std::cout << key << " ";
+        }
+        std::cout << std::endl;
+
+        // 清空按下的键集合
+        pressedKeys.clear();
+
+        usleep(10000); // 10ms
+    }
+
+    setNonBlockingInput(false);
+    return 0;
+}