stm32循迹小车详细制作代码

循迹小车是一种基于传感器技术实现的自动导航小车，可以通过识别地面上的黑线或白线进行自动行驶。下面是一个基于STM32微控制器的循迹小车详细制作代码。

硬件材料：

1. STM32F103C8T6微控制器板

2. L298N电机驱动板

3. 红外传感器模块

4. 4WD小车底盘

5. 18650锂电池及电池盒

6. 面包板、杜邦线等

软件准备：

1. Keil uVision 5集成开发环境

2. ST-Link V2下载器

3. ST-LINK Utility下载工具

4. STM32F103C8T6的库文件

代码实现：

1. 定义引脚和变量：

#define Left_forward PBout(12)
#define Left_backward PBout(13)
#define Right_forward PBout(14)
#define Right_backward PBout(15)

#define IR1 PAin(0)//定义红外传感器引脚
#define IR2 PAin(1)
#define IR3 PAin(2)
#define IR4 PAin(3)
#define IR5 PAin(4)

int left_speed,right_speed;

2. 初始化引脚：

void GPIO_Configuration()
{
    GPIO_InitTypeDef GPIO_InitStructure;
  
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
}

void PWM_Configuration()
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);

    TIM_TimeBaseStructure.TIM_Period = 2000-1;
    TIM_TimeBaseStructure.TIM_Prescaler = 72-1;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM1, &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(TIM1, &TIM_OCInitStructure);
    TIM_OC2Init(TIM1, &TIM_OCInitStructure);
    TIM_OC3Init(TIM1, &TIM_OCInitStructure);
    TIM_OC4Init(TIM1, &TIM_OCInitStructure);

    TIM_Cmd(TIM1, ENABLE);
}

void Motor_Configuration(void)
{
    GPIO_Configuration();
    PWM_Configuration();
}

3. 电机控制：

void Motor_Control(int left_speed,int right_speed)
{
    if (left_speed > 0)
    {
        Left_forward = 1;
        Left_backward = 0;
        TIM_SetCompare1(TIM1, left_speed);
    }
    else if (left_speed < 0)
    {
        Left_forward = 0;
        Left_backward = 1;
        TIM_SetCompare1(TIM1, -left_speed);
    }
    else
    {
        Left_forward = 0;
        Left_backward = 0;
        TIM_SetCompare1(TIM1, 0);
    }

    if (right_speed > 0)
    {
        Right_forward = 1;
        Right_backward = 0;
        TIM_SetCompare2(TIM1, right_speed);
    }
    else if (right_speed < 0)
    {
        Right_forward = 0;
        Right_backward = 1;
        TIM_SetCompare2(TIM1, -right_speed);
    }
    else
    {
        Right_forward = 0;
        Right_backward = 0;
        TIM_SetCompare2(TIM1, 0);
    }
}

4. 循迹控制：

void Tracking_Control(void)
{
    if (IR1 == 0 && IR2 == 0 && IR3 == 1 && IR4 == 0 && IR5 == 0)//匀速直行
    {
        left_speed = 1000;
        right_speed = 1000;
        Motor_Control(left_speed,right_speed);
    }
    else if (IR1 == 0 && IR2 == 1 && IR3 == 1 && IR4 == 0 && IR5 == 0)//左偏
    {
        left_speed = 200;
        right_speed = 800;
        Motor_Control(left_speed,right_speed);
    }
    else if (IR1 == 0 && IR2 == 0 && IR3 == 1 && IR4 == 1 && IR5 == 0)//右偏
    {
        left_speed = 800;
        right_speed = 200;
        Motor_Control(left_speed,right_speed);
    }
    else if (IR1 == 0 && IR2 == 1 && IR3 == 0 && IR4 == 0 && IR5 == 0)//左转弯
    {
        left_speed = -200;
        right_speed = 800;
        Motor_Control(left_speed,right_speed);
    }
    else if (IR1 == 0 && IR2 == 0 && IR3 == 0 && IR4 == 1 && IR5 == 0)//右转弯
    {
        left_speed = 800;
        right_speed = -200;
        Motor_Control(left_speed,right_speed);
    }
    else if (IR1 == 1 && IR2 == 1 && IR3 == 0 && IR4 == 1 && IR5 == 1)//十字路口
    {
        left_speed = 0;
        right_speed = 0;
        Motor_Control(left_speed,right_speed);
    }
}

5. 主函数：

int main(void)
{
    SystemInit();
    Motor_Configuration();

    while (1)
    {
        Tracking_Control();
    }
}

这是一个简单的循迹小车代码，你可以根据自己的实际需求进行改进和优化。