基于stm32f103c8t6藍(lán)牙遙控小車可測(cè)距避障程序

ID:957064 · 發(fā)表于 2021-7-28 13:35

STM32單片機(jī)源程序如下:

#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "timer.h"
#include "motor.h"
#include "sg90.h"
#include "HCSR.h"
#include "oled.h"
#include "beep.h"
#include "motorpwm.h"
#include "TCRT.h"
#define motor1_PWM TIM1->CCR1
#define motor3_PWM TIM1->CCR3
#define motor2_PWM TIM1->CCR2
#define motor4_PWM TIM1->CCR4
// motor11=1; PA7
// motor12=0; PA6
//
// motor21=1; PB7
// motor21=0; PB6
extern u8 res;
int main(void)
{
int len;
delay_init(); //延時(shí)函數(shù)初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //設(shè)置NVIC中斷分組2:2位搶占優(yōu)先級(jí)，2位響應(yīng)優(yōu)先級(jí)
uart_init(9600); //串口初始化為9600
My_USART2_Init();
OLED_Init();
OLED_Clear();
motor_pwm_init();
Motor_Init();
TIM3_PWM_Init(199,7199); //不分頻。T為20ms，這樣的配置就是為了讓輸出的PWM信號(hào)達(dá)到舵機(jī)要求的20ms周期。
SG90_pwm_init();
TCRT_config(); //循跡模塊初始化
CH_SR04_Init();
motor1_PWM=0;motor3_PWM =0;motor21=0; motor22=0;
// motor1_PWM=10;motor2_PWM=10;motor3_PWM =10;motor4_PWM =10;
beep_Init();
while(1)
{
len =Senor_Using();
// printf("距離為:%dcm\n",length);
OLED_ShowCHinese(0,0,0);//前
OLED_ShowCHinese(18,0,1);//方
OLED_ShowCHinese(36,0,2);//距
OLED_ShowCHinese(54,0,3);//離
OLED_ShowCHinese(72,0,4);//為
OLED_Float(3,3,len,1);
delay_ms(20);
// if(res=='1'){motor11=1; motor12=0;motor21=1; motor22=0;TIM_SetCompare2(TIM3,175);}//前進(jìn)右轉(zhuǎn)90
if(res=='1')//避障
{
float length_res[5]; //用來(lái)存放測(cè)距結(jié)果
len =Senor_Using();
// printf("距離為:%dcm\n",length);
OLED_ShowCHinese(0,0,0);//前
OLED_ShowCHinese(18,0,1);//方
OLED_ShowCHinese(36,0,2);//距
OLED_ShowCHinese(54,0,3);//離
OLED_ShowCHinese(72,0,4);//為
OLED_Float(3,3,len,1);
delay_ms(20);
SG90_Front; //舵機(jī)擺正
delay_ms(100);
length_res[0] =Senor_Using(); //測(cè)前方距離放在數(shù)組里
delay_ms(100);
if(length_res[0]>40.00) //如果前方距離大于30cm 前進(jìn)
{
motor1_PWM=70;motor3_PWM =70; motor21=0; motor22=0;
SG90_Front;
TIM_SetCompare2(TIM3,185); //方向回中
}
if(length_res[0]<40.00) //如果前方距離小于30厘米停車測(cè)左右距離
{
beep=1;
motor1_PWM=0;motor3_PWM =0;motor21=0; motor22=0;
SG90_Left_45; //舵機(jī)左轉(zhuǎn)45度測(cè)距
delay_ms(700);beep=0;
length_res[1] =Senor_Using(); //把測(cè)量結(jié)果放進(jìn)數(shù)組
SG90_Right_45; //舵機(jī)右轉(zhuǎn)45度測(cè)距
delay_ms(700);
length_res[4] =Senor_Using(); //把測(cè)量結(jié)果放進(jìn)數(shù)組
SG90_Front; //舵機(jī)擺正
delay_ms(100);
if(length_res[1]>length_res[4]) //如果左邊的距離大于右邊的距離
{
do //舵機(jī)擺正
{
SG90_Front;
delay_ms(10);
length_res[0] =Senor_Using(); //重復(fù)測(cè)前方的距離同時(shí)左轉(zhuǎn)
delay_ms(10);
TIM_SetCompare2(TIM3,195);
motor1_PWM=75;motor3_PWM =75; motor21=0; motor22=0;
}
while(length_res[0]<40.00); //一直轉(zhuǎn)到前方距離大于30cm
}
if(length_res[1]<length_res[4]) //如果右邊的距離大于左邊的距離
{
do
{
SG90_Front;
delay_ms(10);
length_res[0] =Senor_Using();
delay_ms(10);
TIM_SetCompare2(TIM3,175);
motor1_PWM=75;motor3_PWM =75; motor21=0; motor22=0;
}
while(length_res[0]<40.00); //一直轉(zhuǎn)到前方距離大于30cm
}
}
}
if(res=='2')
{
if(Senor_Using()<30)
{ beep=1;
delay_ms(500);
beep=0;motor1_PWM=0;motor3_PWM =0;motor21=0; motor22=0;delay_ms(300);}motor1_PWM=75;motor3_PWM =65;motor21=0; motor22=0; TIM_SetCompare2(TIM3,180);}//前進(jìn)右轉(zhuǎn)45
if(res=='3')
{
if(Senor_Using()<30)
{beep=1;
delay_ms(500);
beep=0;motor1_PWM=0;motor3_PWM =0;motor21=0; motor22=0;delay_ms(600);
}
motor1_PWM=75;motor3_PWM =75;motor21=0; motor22=0; TIM_SetCompare2(TIM3,185);}//直行
if(res=='4')
{
if(Senor_Using()<30)
{beep=1;
delay_ms(500);
beep=0;motor1_PWM=0;motor3_PWM =0;motor21=0; motor22=0;delay_ms(300);}motor1_PWM=65;motor3_PWM =75;motor21=0; motor22=0; TIM_SetCompare2(TIM3,190);}//前進(jìn)左轉(zhuǎn)45
// if(res=='5'){motor11=1; motor12=0;motor21=1; motor22=0;TIM_SetCompare2(TIM3,195);}//前進(jìn)左轉(zhuǎn)90
if(res=='0'){TIM_SetCompare2(TIM3,185);motor1_PWM=0;motor3_PWM =0;;motor21=0; motor22=0;}
if(res=='6'){motor1_PWM=30;motor3_PWM =30;motor21=1; motor22=1;TIM_SetCompare2(TIM3,185);}//后退
if(res=='7'){motor1_PWM=30;motor3_PWM =30;motor21=1; motor22=1;TIM_SetCompare2(TIM3,180);}//后退右轉(zhuǎn)45
if(res=='8'){motor1_PWM=30;motor3_PWM =30;motor21=1; motor22=1;TIM_SetCompare2(TIM3,190);}//后退左轉(zhuǎn)45
if(res=='5')
{
Read_TCRT_Date(); //讀循跡線值
TIM_SetCompare2(TIM3,185); //回中
if(L==1&&M==1&&R==1)//11
{
motor1_PWM=75;motor3_PWM =75;motor21=0; motor22=0; //如果都沒(méi)有讀取到黑線，直走
TIM_SetCompare2(TIM3,0);
delay_ms(10);
}
if(L==1&&M==0&&R==1)//101
{
motor1_PWM=75;motor3_PWM =75;motor21=0; motor22=0; //如果中間一個(gè)讀取到黑線，直走
TIM_SetCompare2(TIM3,185); //回中
delay_ms(10);
}
if(L==1&&M==1&&R==0)//110
{
motor1_PWM=75;motor3_PWM =75;motor21=0; motor22=0; //直走
TIM_SetCompare2(TIM3,179); //如果右邊讀取到黑線，右轉(zhuǎn)
delay_ms(10);
}
if(L==0&&M==1&&R==1)//011
{
motor1_PWM=75;motor3_PWM =75;motor21=0; motor22=0; //直走
TIM_SetCompare2(TIM3,191); //如果左邊讀取到黑線，左轉(zhuǎn)
delay_ms(10);
}
if(L==0&&M==0&&R==0)//000
{
motor1_PWM=75;motor3_PWM =75;motor21=0; motor22=0;
TIM_SetCompare2(TIM3,185);
}
}
}
//在周期20ms的PWM信號(hào)中，不同的脈寬對(duì)應(yīng)舵機(jī)不同的轉(zhuǎn)動(dòng)角度，在0.5ms-2.5ms間有效
// TIM_SetCompare2(TIM4,175);//總共計(jì)數(shù)200，前面設(shè)置的模式是計(jì)數(shù)在比較值之后才是高電平
//也就是高電平的時(shí)間是[(200-175)/200]*20ms=2.5ms,即轉(zhuǎn)過(guò)360度，180度舵機(jī)依次類推
}

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基于stm32f103c8t6藍(lán)牙遙控小車可測(cè)距避障程序

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