STM32智能小车循迹教程

#include "find.h"

#include "Moto.h"



extern TIM_HandleTypeDef htim3;



/*

函数功能:调节小车左右电机PWM

Left:左电机PWM

Right:右电机PWM

*/

void Moto_speed_set(int Left,int Right)

{

  __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_3, Right);

  __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_4, Left); 

}



/*

函数功能:循迹

*/

void Find(void)

{

  //全是白线前进

  if((IO1_read()==0)&&(IO2_read()==0)&&(IO3_read()==0)&&(IO4_read()==0))

  {

    Moto_speed_set(800,800);

    car_move(0);    

  }

  //右边有黑线小车向左即左轮加速右轮减速

  else if((IO1_read()==0)&&(IO2_read()==1)&&(IO3_read()==0)&&(IO4_read()==0))

  {

    Moto_speed_set(800,0);

    car_move(0);    

  }

  //右边有黑线小车向左即左轮加速右轮减速

  else if((IO1_read()==1)&&(IO2_read()==1)&&(IO3_read()==0)&&(IO4_read()==0))

  {

    Moto_speed_set(800,0);

    car_move(0);    

  }

  //右边有黑线小车向左即左轮加速右轮减速

  else if((IO1_read()==1)&&(IO2_read()==0)&&(IO3_read()==0)&&(IO4_read()==0))

  {

    Moto_speed_set(800,0);

    car_move(0);    

  }

  

  

  //左边有黑线小车向右即右轮加速左轮减速

  else if((IO1_read()==0)&&(IO2_read()==0)&&(IO3_read()==1)&&(IO4_read()==0))

  {

    Moto_speed_set(0,800);

    car_move(0);    

  }

  //左边有黑线小车向右即右轮加速左轮减速

  else if((IO1_read()==0)&&(IO2_read()==0)&&(IO3_read()==1)&&(IO4_read()==1))

  {

    Moto_speed_set(0,800);

    car_move(0);    

  }

  //左边有黑线小车向右即右轮加速左轮减速

  else if((IO1_read()==0)&&(IO2_read()==0)&&(IO3_read()==0)&&(IO4_read()==1))

  {

    Moto_speed_set(0,800);

    car_move(0);    

  }

  

  //全是黑线停车

  if((IO1_read()==1)&&(IO2_read()==1)&&(IO3_read()==1)&&(IO4_read()==1))

  {

    Moto_speed_set(0,0);

    car_move(2);

  }

}

#ifndef _FIND_H_

#define _FIND_H_



#include "main.h"



#define u8 unsigned char

#define u16 unsigned short

#define u32 unsigned int



//红外循迹IO口定义

//传感器从右到左  IO1 IO2 IO3 IO4

#define IO1_read() HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_4)

#define IO2_read() HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_5)

#define IO3_read() HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_6)

#define IO4_read() HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_7)





void Find(void);

void Moto_speed_set(int Left,int Right);





#endif

#ifndef _FIND_H_

#define _FIND_H_



#include "main.h"



#define u8 unsigned char

#define u16 unsigned short

#define u32 unsigned int



//红外循迹IO口定义

//传感器从右到左  IO1 IO2 IO3 IO4

#define IO1_read() HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_4)

#define IO2_read() HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_5)

#define IO3_read() HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_6)

#define IO4_read() HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_7)





void Find(void);

void Moto_speed_set(int Left,int Right);





#endif