STM32智能小車程序（尋跡+計時）

ID:614806 · 發表于 2020-12-12 17:00

#include "delay.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "usart2.h"
#include "string.h"
#include "timer.h"
#include "exti.h"
#include "usmart.h"
#include "led.h"
#define RIGHT_V 350
#define LEFT_V 385
extern u32 time;
u16 right_v=RIGHT_V;
u16 left_v=LEFT_V;
u8 last_state=0;
u8 fseg[]={0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90};
u8 segbit[]={0x80,0x40,0x20,0x10,0x08,0x04,0x02,0x01};
u8 disbuf[4]={0,0,0,0};
u8 LED[8]; //用于LED的8位顯示緩存
unsigned char LED_0F[] =
{// 0 1 2 3 4 5 6 7 8 9 A b C d E F -
0xC0,0xF9,0xA4,0xB0,0x99,0x92,0x82,0xF8,0x80,0x90,0x8C,0xBF,0xC6,0xA1,0x86,0xFF,0xbf
};
void LED4_Display (void);
void LED_OUT(u8 X);
void LED4_Display (void)
{
unsigned char *led_table; // 查表指針
u8 i;
//顯示第1位
led_table = LED_0F + LED[0];
i = *led_table;
LED_OUT(i);
LED_OUT(0x01);
RCLK=0;
RCLK=1;
//顯示第2位
led_table = LED_0F + LED[1];
i = *led_table;
LED_OUT(i);
LED_OUT(0x02);
RCLK = 0;
RCLK = 1;
//顯示第3位
led_table = LED_0F + LED[2];
i = *led_table;
LED_OUT(i);
LED_OUT(0x04);
RCLK = 0;
RCLK = 1;
//顯示第4位
led_table = LED_0F + LED[3];
i = *led_table;
LED_OUT(i);
LED_OUT(0x08);
RCLK = 0;
RCLK = 1;
}
void LED_OUT(u8 X)
{
u8 i;
for(i=8;i>=1;i--)
{
if (X&0x80) DIO=1; else DIO=0;
X<<=1;
SCLK = 0;
SCLK = 1;
}
}
void zhixing()
{
TIM_SetCompare2(TIM3,right_v);
TIM_SetCompare3(TIM3,left_v);
}
void youzhuan()
{
TIM_SetCompare2(TIM3,right_v+350);//youlun
TIM_SetCompare3(TIM3,left_v-385);
}
void zuozhuan()
{
TIM_SetCompare2(TIM3,right_v-350);//youlun
TIM_SetCompare3(TIM3,left_v+350);
}
void stop()
{
TIM_SetCompare2(TIM3,899);//youlun
TIM_SetCompare3(TIM3,899);
}
int main(void)
{
u8 t=5;
u32 l=0;
delay_init(); //延時函數初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//設置中斷優先級分組為組2：2位搶占優先級，2位響應優先級
uart_init(115200);
usart2_init(115200);
TIM3_PWM_Init(899,0); //不分頻。PWM頻率=72000000/900=80Khz //初始化與LED連接的硬件接口
TIM4_Int_Init(4000-1,2000-1);
HONGWAI();
LED_Init();
LED[0]=0;
LED[1]=0;
LED[2]=0;
LED[3]=0;
LED4_Display ();
while((zuo==0)||(zhong==0)||(you==0))
{
zhixing();
}
BEEP=0;
delay_ms(500);
BEEP=1;
time=0;
while(time!=5)
{ stop();
LED[0]=(t-time)%10;
LED[1]=0;
LED[2]=0;
LED[3]=0;
LED4_Display ();
}
time=0;
zhixing();
delay_ms(300);
while(1)
{
LED[0]=time%10;
LED[1]=(time/10)%10;
LED[2]=(time/100)%10;
LED4_Display ();
if((zuo==0)&&(zhong==1)&&(you==0))
{
zhixing();
last_state=0;
}
else if((zuo==1)&&(you==0))
{
zuozhuan();
last_state=1;
}
else if((you==1)&&(zuo==0))
{
youzhuan();
last_state=2;
}
else if((zuo==1)&&(zhong==1)&&(you==1))
{
l=time;
stop();
BEEP=0;
delay_ms(500);
BEEP=1;
while(1)
{
LED[0]=l%10;
LED[1]=(l/10)%10;
LED[2]=(l/100)%10;
LED4_Display ();
}
}
else if((zuo==0)&&(zhong==0)&&(you==0))
{
switch(last_state)
{
case 0:zhixing();break;
case 1:zuozhuan();break;
case 2:youzhuan();break;
}
}
}
}

復制代碼

ID:1 · 發表于 2020-12-12 18:50

本帖需要重新編輯補全電路原理圖,源碼,詳細說明與圖片即可獲得100+黑幣(帖子下方有編輯按鈕)

ID:771023 · 發表于 2020-12-12 22:22

太棒了博主

ID:582255 · 發表于 2021-2-13 23:43

樓主能分享一下完整的代碼不

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STM32智能小車程序（尋跡+計時）

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