STM32F103智能紅外循跡小車，包括完整碼盤測速，蔽障，等功能完美實現，庫函數編寫

ID:302936 · 發表于 2018-4-6 22:09

智能小車尋跡、測速

單片機源程序如下:

#include "stm32f10x.h"
#include "CommonTypeDefine.h"
#include "Wheel.h"
#include <stdio.h>
#include "LCD.h"
int DELAY1[2]={5,60};
static WheelVeer AaFLeftWheelVeer=positiveDirection;
static WheelVeer AaFRightWheelVeer=positiveDirection;
static char DirectionOfMotion=0; //運動方向 0正走 1反走
static char AvoidanceStatus=0; //0表示沒有在避障1、2、3、4、5、6、7分別代表避障的7個階段
static char BarrierDirection=0; //0表示沒有在避障1、2分別代表在左邊和右邊
int AaFWheelVeerArray1[8]={2,0,-2,0,-2,0,2,0};
int AaFWheelVeerArray2[8]={-2,0,2,0,2,0,-2,0};
static char CarStatus=1;
static int timeCounter=0;
static int LCDtimeCounter=100;
void AaFDelay(int);
void doSometingelse(void);
void show(void);
void showLeft(void);
void showRight(void);
void CarControlInit()
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB, ENABLE);
//LCD相關配置
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_SPI1, ENABLE);
LCD_Init();
LCD_Clr();
//蔽障中斷口線
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_4|GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU;
GPIO_Init(GPIOA,&GPIO_InitStructure);
//小車尋跡口線配置
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_2|GPIO_Pin_7|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU;
GPIO_Init(GPIOB,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU;
GPIO_Init(GPIOA,&GPIO_InitStructure);
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x00000);
if (SysTick_Config(SystemCoreClock /100))
{
while (1);
}
NVIC_SetPriority(SysTick_IRQn, 0x0);
WheelInit(positiveDirection,(char)255);
}
void AvoidanceAndFollow()
{
if(AvoidanceStatus==0)
{
if(DirectionOfMotion==0)
{
if(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_4)==RESET) //左邊有障礙物
{
AvoidanceStatus=8;
BarrierDirection=1;
}
else if(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_3)==RESET) //右邊有障礙物
{
AvoidanceStatus=8;
BarrierDirection=2;
}
else if((GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_2)==RESET)&&(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_13)==RESET)&&(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_1)==RESET))
{
CarStatus=0;
AaFLeftWheelVeer=stop;
AaFRightWheelVeer=stop;
}
else if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_2)==RESET) //黑線壓在右邊
{
AaFLeftWheelVeer=positiveDirection;
AaFRightWheelVeer=stop;
}
else if(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_1)==RESET) //黑線壓在左邊
{
AaFLeftWheelVeer=stop;
AaFRightWheelVeer=positiveDirection;
}
else if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_13)==RESET) //黑線壓在中間
{
AaFLeftWheelVeer=positiveDirection;
AaFRightWheelVeer=positiveDirection;
}
}
else if(DirectionOfMotion==1)
{
if((GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_7)==RESET)&&(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_14)==RESET)&&(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_15)==RESET))
{
CarStatus=0;
AaFLeftWheelVeer=stop;
AaFRightWheelVeer=stop;
}
else if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_15)==RESET) //黑線壓在右邊
{
AaFLeftWheelVeer=reverseDirection;
AaFRightWheelVeer=stop;
}
else if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_7)==RESET) //黑線壓在左邊
{
AaFLeftWheelVeer=stop;
AaFRightWheelVeer=reverseDirection;
}
else if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_14)==RESET) //黑線壓在中間
{
AaFLeftWheelVeer=reverseDirection;
AaFRightWheelVeer=reverseDirection;
}
}
}
timeCounter--;
}
void CarControl()
{
while(1)
{
while(CarStatus==1)
{
if(AvoidanceStatus>0)
{
if(BarrierDirection==1)
{
TurnCar(AaFWheelVeerArray1[8-AvoidanceStatus]);
}
else if(BarrierDirection==2)
{
TurnCar(AaFWheelVeerArray2[8-AvoidanceStatus]);
}
if(AvoidanceStatus==5)
{
AaFDelay(120);
}
else
{
AaFDelay(DELAY1[AvoidanceStatus%2]);
}
AvoidanceStatus--;
AaFDelay(2);
}
else
{
WheelSetVeer(leftWheel,AaFLeftWheelVeer);
WheelSetVeer(rightWheel,AaFRightWheelVeer);
AaFDelay(1);
}
show();
}
WheelSetVeer(leftWheel,AaFLeftWheelVeer);
WheelSetVeer(rightWheel,AaFRightWheelVeer);
show();
doSometingelse();
}
}
void AaFDelay(int t)
{
timeCounter=t;
while(timeCounter);
}
void doSometingelse()
{
AaFDelay(100);
if(DirectionOfMotion==0)
{
DirectionOfMotion=1;
}
else if(DirectionOfMotion==1)
{
DirectionOfMotion=0;
}
//Other
//TurnCar(left);
//TurnCar(left);
CarStatus=1;
}
void show()
{
if(LCDtimeCounter==0)
{
LCDtimeCounter=100;
showLeft();
showRight();
……………………
…………限于本文篇幅余下代碼請從51黑下載附件…………

復制代碼

所有資料51hei提供下載:

智能紅外循跡小車，包括完整碼盤測速，蔽障，等功能完美實現，庫函數編寫，便于閱讀.rar (293.78 KB, 下載次數: 183)

ID:344895 · 發表于 2018-7-18 10:16

為什么有錯啊

ID:267330 · 發表于 2018-10-22 16:39

在下載不了啊

ID:267330 · 發表于 2018-10-24 09:42

復制，學習，別人的經驗

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STM32F103智能紅外循跡小車，包括完整碼盤測速，蔽障，等功能完美實現，庫函數編寫