24年版Node-REDフローを掲載します。
間に合わなかった人、フローが消えちゃった人、完成版を改造するのもいいかな。
- カメラ映像を表示する
- デュアルモーターは、PWMで速度が可変
- カメラ用左右上下のサーボモーター２個搭載
- キー操作：［W］前進 ［S］ストップ ［X］後進 ［A］左旋回 ［Ｄ］右旋回
- ハンマー用サーボモーター170度
- スピーカー搭載（音楽やR2D2音）
- 音声合成［入力したテキスト］を話します
- 障害物センサー左右１個ずつ計２個
- ［Auto Drive］自動走行モードON/OFF切り替え
- ダッシュボード起動時に［pigpiod］を起動しています
- カメラ映像は ssh接続後、［$ ./start.sh］スクリプトで mjpg-streamer を起動してください
フロー
フロー読み込み方
Node-REDフローの右上メニュー［読み込み］で下記JSONをコピペしてください。
JSONフロー
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msg.payload;\n}\nif (msg.topic === \"motor\") {\n context.payload2 = msg.payload;\n}\n\n// 両方のpayloadが揃ったら掛け算を行う\nif (context.payload1 !== null && context.payload2 !== null) {\n // センサーがONなら逆転、OFFなら正転する\n if (context.payload2 === 1) {\n msg.payload = 0;\n } else {\n msg.payload = 1;\n }\n // もし自動運転がOFFなら止める\n if (context.payload1 === 0) {\n msg.payload = 0;\n }\n return msg;\n}","outputs":1,"noerr":0,"initialize":"","finalize":"","libs":[],"x":630,"y":2600,"wires":[["932669de.5a6cc8"]]},{"id":"1883f380.59b79d","type":"rpi-gpio 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sudo systemctl status nodered.service
▼ラズパイ起動時に、Node-REDを自動起動させる
[Node-red]サービスを常に有効化[Enable]します。
$ sudo systemctl enable nodered.service
再起動したときに
$ sudo systemctl status nodered.service
Active: active (running)
が表示されれば、Node-REDが起動しています。