stm32小车红外避障程序

下面是一个基于 STM32 的小车红外避障程序，供您参考：

#include "stm32f10x.h"

#define IR_PIN GPIO_Pin_0
#define IR_PORT GPIOA
#define IR_RCC RCC_APB2Periph_GPIOA

void GPIO_Configuration(void);
void ADC_Configuration(void);
void PWM_Configuration(void);
void Delay(__IO uint32_t nCount);

int main(void)
{
    uint16_t adc_value;

    GPIO_Configuration();
    ADC_Configuration();
    PWM_Configuration();

    while(1)
    {
        ADC_SoftwareStartConvCmd(ADC1, ENABLE);
        while(!ADC_GetFlagStatus(ADC1, ADC_FLAG_EOC));
        adc_value = ADC_GetConversionValue(ADC1);
        if(adc_value > 1000)   //如果检测到前方有障碍物
        {
            TIM_SetCompare1(TIM1, 0);   //停车
            Delay(500);                 //等待一段时间
            TIM_SetCompare1(TIM1, 800); //倒车
            TIM_SetCompare2(TIM1, 800);
            Delay(1000);                //等待一段时间
            TIM_SetCompare1(TIM1, 800); //转向
            TIM_SetCompare2(TIM1, 200);
            Delay(1000);                //等待一段时间
        }
        else                    //如果前方没有障碍物
        {
            TIM_SetCompare1(TIM1, 800); //前进
            TIM_SetCompare2(TIM1, 800);
        }
    }
}

void GPIO_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(IR_RCC, ENABLE);

    GPIO_InitStructure.GPIO_Pin = IR_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
    GPIO_Init(IR_PORT, &GPIO_InitStructure);
}

void ADC_Configuration(void)
{
    ADC_InitTypeDef ADC_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);

    ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
    ADC_InitStructure.ADC_ScanConvMode = DISABLE;
    ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
    ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
    ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
    ADC_InitStructure.ADC_NbrOfChannel = 1;
    ADC_Init(ADC1, &ADC_InitStructure);

    ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_239Cycles5);

    ADC_Cmd(ADC1, ENABLE);

    ADC_ResetCalibration(ADC1);
    while(ADC_GetResetCalibrationStatus(ADC1));

    ADC_StartCalibration(ADC1);
    while(ADC_GetCalibrationStatus(ADC1));
}

void PWM_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    TIM_TimeBaseStructure.TIM_Period = 999;
    TIM_TimeBaseStructure.TIM_Prescaler = 71;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &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(TIM2, &TIM_OCInitStructure);
    TIM_OC2Init(TIM2, &TIM_OCInitStructure);

    TIM_Cmd(TIM2, ENABLE);
}

void Delay(__IO uint32_t nCount)
{
    for(; nCount != 0; nCount--);
}

这个程序通过 ADC 模块采集红外传感器的输出信号，根据信号大小判断前方是否有障碍物，如果有障碍物，则进行停车、倒车、转向等避障操作；如果前方没有障碍物，则继续前进。需要注意的是，这个程序只是一个简单的示例，实际应用中需要根据具体情况进行调整和优化。