stm32灰度循迹小车代码

循迹小车的代码可以根据具体的需求和硬件平台进行编写。以下是一个简单的STM32灰度循迹小车代码的示例：

#include "stm32f4xx.h"

// 定义引脚和端口
#define SENSOR_PIN GPIO_Pin_0
#define SENSOR_PORT GPIOA
#define MOTOR1_PIN GPIO_Pin_1
#define MOTOR1_PORT GPIOB
#define MOTOR2_PIN GPIO_Pin_2
#define MOTOR2_PORT GPIOB

// 初始化GPIO和定时器
void GPIO_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStruct;

    // 初始化传感器引脚
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    GPIO_InitStruct.GPIO_Pin = SENSOR_PIN;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN;
    GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(SENSOR_PORT, &GPIO_InitStruct);

    // 初始化电机引脚
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
    GPIO_InitStruct.GPIO_Pin = MOTOR1_PIN | MOTOR2_PIN;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(MOTOR1_PORT, &GPIO_InitStruct);
}

// 控制电机运动
void Motor_Control(uint8_t left, uint8_t right)
{
    if (left == 1)
    {
        GPIO_SetBits(MOTOR1_PORT, MOTOR1_PIN);
    }
    else
    {
        GPIO_ResetBits(MOTOR1_PORT, MOTOR1_PIN);
    }

    if (right == 1)
    {
        GPIO_SetBits(MOTOR2_PORT, MOTOR2_PIN);
    }
    else
    {
        GPIO_ResetBits(MOTOR2_PORT, MOTOR2_PIN);
    }
}

// 主函数
int main(void)
{
    // 初始化GPIO和定时器
    GPIO_Init();

    while (1)
    {
        // 读取传感器值
        uint8_t sensorValue = GPIO_ReadInputDataBit(SENSOR_PORT, SENSOR_PIN);

        // 根据传感器值控制电机运动
        if (sensorValue == 0)
        {
            Motor_Control(1, 0); // 左转
        }
        else
        {
            Motor_Control(0, 1); // 右转
        }
    }
}

这段代码使用了STM32的GPIO和定时器来控制循迹小车的运动。通过读取传感器的值来判断小车当前所在的位置，然后根据位置控制电机的运动方向。具体的引脚和端口可以根据实际的硬件连接进行修改。
#### 引用[.reference_title]
- *1* [STM32实战项目系列教程 （一）—— 循迹小车](https://blog.csdn.net/weixin_49821504/article/details/130443124)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v91^control_2,239^v3^insert_chatgpt"}} ] [.reference_item]
- *2* [STM32循迹小车](https://blog.csdn.net/m0_74712453/article/details/130190439)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v91^control_2,239^v3^insert_chatgpt"}} ] [.reference_item]
- *3* [STM32循迹小车系列教程（三）—— 使用灰度传感器循迹](https://blog.csdn.net/weixin_49821504/article/details/130444390)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v91^control_2,239^v3^insert_chatgpt"}} ] [.reference_item]
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