求助树莓派避障小车，遇到 python 了。。

小白第一次上手 python ，用树莓派，红外和超声波传感器做智障小车。 编译错误：

RuntimeWarning: This channel is already in use, continuing anyway. Use GPIO.setwarnings(False) to disable warnings. GPIO.setup(trip,GPIO.OUT) Traceback (most recent call last): File "xiaochetest.py", line 82, in <module> fwd() TypeError: fwd() takes exactly 1 argument (0 given) 

下面是小车的代码：

import RPi.GPIO as GPIO import time GPIO.setmode(GPIO.BOARD) m1_fwd = 12 m1_rev = 11 m2_fwd = 13 m2_rev = 15 red_left = 07 red_right = 16 trip = 38 echo = 37 def init(): GPIO.setup(m1_fwd,GPIO.OUT) GPIO.setup(m1_rev,GPIO.OUT) GPIO.setup(m2_fwd,GPIO.OUT) GPIO.setup(m2_rev,GPIO.OUT) def stop(sleep_time): GPIO.output(m1_fwd,False) GPIO.output(m1_rev,False) GPIO.output(m2_fwd,False) GPIO.output(m2_rev,False) time.sleep(sleep_time) GPIO.cleanup() def fwd(sleep_time): GPIO.output(m1_fwd,GPIO.HIGH) GPIO.output(m1_rev,GPIO.LOW) GPIO.output(m2_fwd,GPIO.HIGH) GPIO.output(m2_rev,GPIO.LOW) time.sleep(sleep_time) GPIO.cleanup() def rev(sleep_time): GPIO.output(m1_fwd,GPIO.LOW) GPIO.output(m1_rev,GPIO.HIGH) GPIO.output(m2_fwd,GPIO.LOW) GPIO.output(m2_rev,GPIO.HIGH) time.sleep(sleep_time) GPIO.cleanup() def right(sleep_time): GPIO.output(m1_fwd,GPIO.HIGH) GPIO.output(m1_rev,GPIO.LOW) GPIO.output(m2_fwd,False) GPIO.output(m2_rev,False) time.sleep(sleep_time) GPIO.cleanup() def left(sleep_time): GPIO.output(m1_fwd,False) GPIO.output(m1_rev,False) GPIO.output(m2_fwd,GPIO.HIGH) GPIO.output(m2_rev,GPIO.LOW) time.sleep(sleep_time) GPIO.cleanup() def get_distance(): GPIO.setup(trip,GPIO.OUT) GPIO.setup(echo,GPIO.IN) GPIO.output(trip,GPIO.HIGH) time.sleep(0.000015) GPIO.output(trip,GPIO.LOW) while not GPIO.input(echo): pass t1 = time.time() while GPIO.input(echo): pass t2 = time.time() return (t2-t1)*34300/2 def turnaround(): GPIO.setup(red_left,GPIO.IN) GPIO.setup(red_right,GPIO.IN) while GPIO.input(red_left) and GPIO.input(red_right)==0: rev() if GPIO.input(red_left)==1: left(1) else: right(1) GPIO.cleanup() while True: distance = get_distance() time.sleep(0.5) if distance > 20: fwd() elif distance == 20: stop() else: stop() turnaround()