写一个stm32增量式pid控制循迹小车例程

好的，为了实现STM32增量式PID控制循迹小车，需要完成以下几个步骤：

1. 初始化硬件：包括引脚设置、定时器设置、ADC设置等。
2. 获取电感传感器的ADC值。
3. 将ADC值转换为误差值。
4. 计算PID控制输出。
5. 控制电机运动。

下面是一个基本的示例代码：

#include "stdio.h"
#include "stm32f10x.h"

#define KP 0.5
#define KD 0.2
#define KI 0.01

#define LEFT_SENSOR 0
#define RIGHT_SENSOR 1
#define CENTER_SENSOR 2

#define SENSOR_NUM 3

#define MOTOR_L 2
#define MOTOR_R 3

int sensor_values[SENSOR_NUM] = {0, 0, 0};
int last_error = 0;
int integral = 0;

void Motor_Init(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);

  // 左电机引脚设置
  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);

  // 右电机引脚设置
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3;
  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_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);

  TIM_OC2Init(TIM2, &TIM_OCInitStructure);
  TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);

  TIM_OC3Init(TIM2, &TIM_OCInitStructure);
  TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);

  TIM_OC4Init(TIM2, &TIM_OCInitStructure);
  TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);

  TIM_Cmd(TIM2, ENABLE);
}

void ADC_Init(void) {
  GPIO_InitTypeDef GPIO_InitStructure;
  ADC_InitTypeDef ADC_InitStructure;

  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_ADC1, ENABLE);

  // 引脚设置
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
  GPIO_Init(GPIOB, &GPIO_InitStructure);

  // ADC设置
  ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
  ADC_InitStructure.ADC_ScanConvMode = ENABLE;
  ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
  ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
  ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
  ADC_InitStructure.ADC_NbrOfChannel = SENSOR_NUM;
  ADC_Init(ADC1, &ADC_InitStructure);

  ADC_Cmd(ADC1, ENABLE);

  ADC_RegularChannelConfig(ADC1, ADC_Channel_8, 1, ADC_SampleTime_28Cycles5);
  ADC_RegularChannelConfig(ADC1, ADC_Channel_9, 2, ADC_SampleTime_28Cycles5);
  ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 3, ADC_SampleTime_28Cycles5);

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

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

void Motor_Control(int l_speed, int r_speed) {
  if (l_speed < 0) {
    TIM_SetCompare1(TIM2, -l_speed);
    TIM_SetCompare2(TIM2, 0);
  } else {
    TIM_SetCompare1(TIM2, 0);
    TIM_SetCompare2(TIM2, l_speed);
  }

  if (r_speed < 0) {
    TIM_SetCompare3(TIM2, -r_speed);
    TIM_SetCompare4(TIM2, 0);
  } else {
    TIM_SetCompare3(TIM2, 0);
    TIM_SetCompare4(TIM2, r_speed);
  }
}

int Get_Sensor_Value(int sensor) {
  ADC_RegularChannelConfig(ADC1, sensor, 1, ADC_SampleTime_28Cycles5);
  ADC_SoftwareStartConvCmd(ADC1, ENABLE);
  while (ADC_GetFlagStatus(ADC1, ADC_FLAG_EOC) == RESET)
    ;
  return ADC_GetConversionValue(ADC1);
}

int Get_Error(void) {
  int error = 0;
  for (int i = 0; i < SENSOR_NUM; i++) {
    int value = Get_Sensor_Value(i);
    sensor_values[i] = value;
    error += (i - 1) * value;
  }
  error /= (sensor_values[LEFT_SENSOR] + sensor_values[CENTER_SENSOR] +
            sensor_values[RIGHT_SENSOR]);
  return error;
}

int PID_Control(int error) {
  int derivative = error - last_error;
  integral += error;
  int output = KP * error + KD * derivative + KI * integral;
  last_error = error;
  return output;
}

int main(void) {
  Motor_Init();
  ADC_Init();

  while (1) {
    int error = Get_Error();
    int output = PID_Control(error);
    Motor_Control(output, -output);
  }
}

该示例代码实现了一个基本的STM32增量式PID控制循迹小车，其中KP、KD和KI分别表示比例项、微分项和积分项的系数，通过调整这些系数可以优化控制效果。