stm32f103c8t6用pid算法控制五路循迹小车

循迹小车的五路传感器可以检测到地面黑白交替的情况，根据传感器的数据可以得到小车的位置信息。PID算法可以根据位置信息计算出小车需要调整的速度和方向，从而实现自动控制。下面是一个简单的代码框架，可以供您参考：

#include "stm32f10x.h"

#define Sensor1_GPIO GPIOA
#define Sensor1_Pin GPIO_Pin_0
#define Sensor2_GPIO GPIOA
#define Sensor2_Pin GPIO_Pin_1
#define Sensor3_GPIO GPIOA
#define Sensor3_Pin GPIO_Pin_2
#define Sensor4_GPIO GPIOA
#define Sensor4_Pin GPIO_Pin_3
#define Sensor5_GPIO GPIOA
#define Sensor5_Pin GPIO_Pin_4

#define Motor1_GPIO GPIOB
#define Motor1_EN_Pin GPIO_Pin_0
#define Motor1_IN1_Pin GPIO_Pin_1
#define Motor1_IN2_Pin GPIO_Pin_2
#define Motor2_GPIO GPIOB
#define Motor2_EN_Pin GPIO_Pin_10
#define Motor2_IN1_Pin GPIO_Pin_11
#define Motor2_IN2_Pin GPIO_Pin_12

float Kp = 1.0;
float Ki = 0.0;
float Kd = 0.0;
float last_error = 0.0;
float integral = 0.0;

void Motor1_Forward(void)
{
    GPIO_SetBits(Motor1_GPIO, Motor1_IN1_Pin);
    GPIO_ResetBits(Motor1_GPIO, Motor1_IN2_Pin);
}

void Motor1_Backward(void)
{
    GPIO_ResetBits(Motor1_GPIO, Motor1_IN1_Pin);
    GPIO_SetBits(Motor1_GPIO, Motor1_IN2_Pin);
}

void Motor2_Forward(void)
{
    GPIO_SetBits(Motor2_GPIO, Motor2_IN1_Pin);
    GPIO_ResetBits(Motor2_GPIO, Motor2_IN2_Pin);
}

void Motor2_Backward(void)
{
    GPIO_ResetBits(Motor2_GPIO, Motor2_IN1_Pin);
    GPIO_SetBits(Motor2_GPIO, Motor2_IN2_Pin);
}

void Motor1_Stop(void)
{
    GPIO_ResetBits(Motor1_GPIO, Motor1_IN1_Pin | Motor1_IN2_Pin);
}

void Motor2_Stop(void)
{
    GPIO_ResetBits(Motor2_GPIO, Motor2_IN1_Pin | Motor2_IN2_Pin);
}

int main(void)
{
    // 初始化传感器和电机
    GPIO_InitTypeDef GPIO_InitStructure;
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE);
    GPIO_InitStructure.GPIO_Pin = Sensor1_Pin | Sensor2_Pin | Sensor3_Pin | Sensor4_Pin | Sensor5_Pin;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(Sensor1_GPIO, &GPIO_InitStructure);
    GPIO_Init(Sensor2_GPIO, &GPIO_InitStructure);
    GPIO_Init(Sensor3_GPIO, &GPIO_InitStructure);
    GPIO_Init(Sensor4_GPIO, &GPIO_InitStructure);
    GPIO_Init(Sensor5_GPIO, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = Motor1_EN_Pin | Motor1_IN1_Pin | Motor1_IN2_Pin;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(Motor1_GPIO, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = Motor2_EN_Pin | Motor2_IN1_Pin | Motor2_IN2_Pin;
    GPIO_Init(Motor2_GPIO, &GPIO_InitStructure);

    // 初始化PID参数
    float error = 0.0;
    float derivative = 0.0;
    float output = 0.0;

    // 进入主循环
    while (1)
    {
        // 读取传感器数据
        uint8_t s1 = GPIO_ReadInputDataBit(Sensor1_GPIO, Sensor1_Pin);
        uint8_t s2 = GPIO_ReadInputDataBit(Sensor2_GPIO, Sensor2_Pin);
        uint8_t s3 = GPIO_ReadInputDataBit(Sensor3_GPIO, Sensor3_Pin);
        uint8_t s4 = GPIO_ReadInputDataBit(Sensor4_GPIO, Sensor4_Pin);
        uint8_t s5 = GPIO_ReadInputDataBit(Sensor5_GPIO, Sensor5_Pin);

        // 计算位置偏差
        error = (s1 * -2.0 + s2 * -1.0 + s3 * 0.0 + s4 * 1.0 + s5 * 2.0) / (s1 + s2 + s3 + s4 + s5);

        // 计算积分项
        integral += error;

        // 计算微分项
        derivative = error - last_error;
        last_error = error;

        // 计算输出值
        output = Kp * error + Ki * integral + Kd * derivative;

        // 根据输出值控制电机
        if (output > 0.0)
        {
            Motor1_Forward();
            Motor1_GPIO->BRR = Motor1_EN_Pin;
            Motor2_Forward();
            Motor2_GPIO->BRR = Motor2_EN_Pin;
        }
        else if (output < 0.0)
        {
            Motor1_Backward();
            Motor1_GPIO->BRR = Motor1_EN_Pin;
            Motor2_Backward();
            Motor2_GPIO->BRR = Motor2_EN_Pin;
        }
        else
        {
            Motor1_Stop();
            Motor1_GPIO->BSRR = Motor1_EN_Pin;
            Motor2_Stop();
            Motor2_GPIO->BSRR = Motor2_EN_Pin;
        }
    }
}

需要注意的几个点：

1. 该代码使用了GPIO模拟PWM方式控制电机，需要在初始化时设置输出频率和占空比。
2. 微调PID参数可以获得更好的控制效果。
3. 该代码仅供参考，实际应用中可能需要根据具体情况进行修改。