基于stm32的五路红外循迹小车代码使用麦轮

以下是基于STM32的五路红外循迹小车代码使用麦轮的示例：

#include "stm32f10x.h"
#include "delay.h"

#define IN1 GPIO_Pin_0
#define IN2 GPIO_Pin_1
#define IN3 GPIO_Pin_2
#define IN4 GPIO_Pin_3
#define ENA GPIO_Pin_6
#define ENB GPIO_Pin_7

void init_GPIO(void)
{
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

    GPIO_InitTypeDef GPIO_InitStructure;

    GPIO_InitStructure.GPIO_Pin = IN1 | IN2 | IN3 | IN4;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = ENA | ENB;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);
}

void init_TIM(void)
{
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    TIM_TimeBaseStructure.TIM_Period = 999;
    TIM_TimeBaseStructure.TIM_Prescaler = 71;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

    TIM_OC1Init(TIM3, &TIM_OCInitStructure);
    TIM_OC2Init(TIM3, &TIM_OCInitStructure);

    TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
    TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);

    TIM_Cmd(TIM3, ENABLE);
}

void forward(int speed)
{
    GPIO_SetBits(GPIOA, IN1 | IN4);
    GPIO_ResetBits(GPIOA, IN2 | IN3);
    TIM_SetCompare1(TIM3, speed);
    TIM_SetCompare2(TIM3, speed);
}

void backward(int speed)
{
    GPIO_SetBits(GPIOA, IN2 | IN3);
    GPIO_ResetBits(GPIOA, IN1 | IN4);
    TIM_SetCompare1(TIM3, speed);
    TIM_SetCompare2(TIM3, speed);
}

void turn_left(int speed)
{
    GPIO_SetBits(GPIOA, IN1 | IN3);
    GPIO_ResetBits(GPIOA, IN2 | IN4);
    TIM_SetCompare1(TIM3, speed);
    TIM_SetCompare2(TIM3, speed);
}

void turn_right(int speed)
{
    GPIO_SetBits(GPIOA, IN2 | IN4);
    GPIO_ResetBits(GPIOA, IN1 | IN3);
    TIM_SetCompare1(TIM3, speed);
    TIM_SetCompare2(TIM3, speed);
}

int main(void)
{
    init_GPIO();
    init_TIM();
    while(1)
    {
        //读取红外传感器数据，根据数据控制小车运动
        //例如，红外传感器前方有障碍物，小车向左转
        turn_left(500);
        Delay_ms(1000);
        forward(500);
        Delay_ms(1000);
        backward(500);
        Delay_ms(1000);
    }
}

请注意，此示例仅为演示目的，您需要根据您的具体硬件和要求进行适当的修改和调整。