STM32小車超聲波+紅外跟蹤實驗源碼

ID:280836 · 發表于 2018-1-30 10:43

#include "stm32f10x.h"
#include "interface.h"
#include "LCD1602.h"
#include "IRCtrol.h"
#include "motor.h"
#include "UltrasonicCtrol.h"

//全局變量定義
unsigned int speed_count=0;//占空比計數器 50次一周期
char front_left_speed_duty=SPEED_DUTY;
char front_right_speed_duty=SPEED_DUTY;
char behind_left_speed_duty=SPEED_DUTY;
char behind_right_speed_duty=SPEED_DUTY;

unsigned char tick_5ms = 0;//5ms計數器，作為主函數的基本周期
unsigned char tick_1ms = 0;//1ms計數器，作為電機的基本計數器
unsigned char tick_200ms = 0;//刷新顯示

char ctrl_comm = COMM_STOP;//控制指令
char ctrl_comm_last = COMM_STOP;//上一次的指令
unsigned char continue_time=0;

void InitIO()
{
      GPIO_InitTypeDef GPIO_InitStructure;

      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOE , ENABLE);//使能LED使用的GPIO時鐘
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOE , &GPIO_InitStructure);//將使用LED燈相關的GPIO初始化
GPIO_SetBits(GPIOE , GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10);//關閉所有的ＬＥＤ指示燈
}

//障礙物查詢和處理,一旦出現障礙物，禁止直行
void BarrierProc()
{

            if(VOID_L_IO == BARRIER_N && VOID_R_IO == BARRIER_Y)//右轉
      {
            CarRight();
            Delayms(30);
            return;
      }
      else if(VOID_L_IO == BARRIER_Y && VOID_R_IO == BARRIER_N)//左轉
      {
            CarLeft();
            Delayms(30);
            return;
      }

      if((distance_cm >= 5 && distance_cm <= 7) || distance_cm > 50) //
      {
            CarStop();//防震蕩
            return;
      }

      if(VOID_L_IO == VOID_R_IO)
      {
            if(distance_cm < 5) CarBack();
            if(distance_cm > 7) CarGo();
      }
}

int main(void)
{
      delay_init();
      LCD1602Init();
      IRCtrolInit();
      TIM2_Init();
      MotorInit();
      ServoInit();
      UltraSoundInit();
InitIO();
      RedRayInit();

while(1)
{
                     if(tick_5ms >= 5)
            {
                     tick_5ms = 0;
                     tick_200ms++;
                     if(tick_200ms >= 40)
                     {
                              tick_200ms = 0;
                              LEDToggle(GPIO_Pin_8);
                              LCD1602WriteDistance(distance_cm);//更新距離
                     }
                     continue_time--;//200ms 無接收指令就停車
                     if(continue_time == 0)
                     {
                              continue_time = 1;
                              CarStop();
                     }
                     //do something
                     Distance();//計算距離
                     BarrierProc();
                     if(ctrl_comm_last != ctrl_comm)//接收到紅外信號
                     {
                              ctrl_comm_last = ctrl_comm;
                              switch(ctrl_comm)
                              {
                                    case COMM_UP: CarGo();break;
                                    case COMM_DOWN:  CarBack();break;
                                    case COMM_LEFT:  CarLeft();break;
                                    case COMM_RIGHT: CarRight();break;
                                    case COMM_STOP:  CarStop();break;
                                    default : break;
                              }
                              LCD1602WriteCommand(ctrl_comm);
                     }
            }

}
}

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STM32小車超聲波+紅外跟蹤實驗源碼