Raspberry Pi Development Tutorial
V1.0
[Link] Ready
1.1 Wring Instruction
Connect the 5V, GND, SDA, and SCL pins on the 4-ch line follower to the
corresponding pins on the the Raspberry Pi.
Note:
1 If you are using the provided lithium battery, please connect the battery connector to
DC port on the Raspberry Pi, with red wire to the positive terminal (+) and black wire to the
1
negative terminal (-).
2 If the battery wires are not connected, do not directly connect them to other wires to
avoid a short circuit between the positive and negative poles, which may cause damage to
the device.
3 Please ensure that no metal comes into contact with the controller before powering on.
Otherwise, it may result in a short circuit and damage the controller.
1.2 Environment Configuration
Install NoMachine on your PC. The software package is located in “2. Software
Tools&Program Collections->01 Software Installation Packages-> Remote
Desktop Connection Tool”. For detailed instructions on how to use NoMachine,
please refer to the relevant tutorials.
Drag the program into the Raspberry Pi system image. Take placing them on
the remote desktop as an example. Please make sure to place the library file
and the program in the same directory.
Open the terminal. Input the command “sudo chomod a+x 4LineFollower” to
navigate to the directory where the program is located.
2. Program Test
This program uses the GPIO port to simulate the I2C communication, enabling
the communication of the 4-ch line follower.
2.1 Run Program
Open a new terminal. Input the command “python3 4LineFollower” to execute
the program.
2.2 Program Outcome
The 4-ch line follower detects the black line to achieve line following. When the
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black line is detected, the terminal will print the obtained value of each serial
port.
2.3 Brief Program Analysis
Import library
Parameter details:
smbus: the library used for communicating with the I2C device.
It is used to control the running time of program. For example, use
“[Link]()” in a loop to control the frequency of data update.
Set I2C bus number and sensor address
I2C_BUS: sets I2C bus number to 1, indicating the usage of the first I2C bus in
the system.
IIC_ADDR：sets the I2C address of the 4-ch line follower to 0x78.
IIC_REAR_ADDR：sets the register address to 0x01.
Read function value
read_word(): uses the “read_byte_data” of the [Link] object to read
specified address data, and returns the read value.
Main function
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Main(): main program entrance.
Use the try-except structure to capture the KeyboardInterrupt abnormity,
allowing to exit the program by pressing “Ctrl+C”.
while True loop: loops to read sensor data and print.
value = read_word(): calls “read_word()” function to read sensor data.
print(): prints the sensor status, extracting each sensor status with
displacement operation.
[Link](0.5): updates data every 0.5 seconds, controlling the loop execution
speed.