用hal库写一个循迹代码

好的，以下是一份基于HAL库的循迹代码，代码中使用了两个红外传感器进行循迹，如果需要使用其他传感器或调整控制逻辑，可以根据具体情况进行修改。

#include "main.h"
#include "stm32f1xx_hal.h"

// 定义红外传感器的引脚号
#define LEFT_SENSOR_PIN GPIO_PIN_0
#define LEFT_SENSOR_PORT GPIOA
#define RIGHT_SENSOR_PIN GPIO_PIN_1
#define RIGHT_SENSOR_PORT GPIOA

// 定义小车电机的引脚号
#define LEFT_MOTOR_PIN GPIO_PIN_0
#define LEFT_MOTOR_PORT GPIOB
#define RIGHT_MOTOR_PIN GPIO_PIN_1
#define RIGHT_MOTOR_PORT GPIOB

// 定义红外传感器的阈值
#define SENSOR_THRESHOLD 1500

// 定义小车电机的PWM周期和分辨率
#define PWM_PERIOD 1000
#define PWM_RESOLUTION 100

// 定义小车电机的速度
#define MOTOR_SPEED 50

// 定义小车控制状态
typedef enum {
    FORWARD,
    LEFT,
    RIGHT
} CarState;

// 初始化红外传感器
void IR_Sensor_Init(void) {
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    
    __HAL_RCC_GPIOA_CLK_ENABLE();
    
    GPIO_InitStruct.Pin = LEFT_SENSOR_PIN | RIGHT_SENSOR_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_PULLUP;
    HAL_GPIO_Init(LEFT_SENSOR_PORT, &GPIO_InitStruct);
}

// 初始化小车电机
void Motor_Init(void) {
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    TIM_HandleTypeDef htim = {0};
    TIM_OC_InitTypeDef sConfigOC = {0};
    
    __HAL_RCC_GPIOB_CLK_ENABLE();
    __HAL_RCC_TIM4_CLK_ENABLE();
    
    GPIO_InitStruct.Pin = LEFT_MOTOR_PIN | RIGHT_MOTOR_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(LEFT_MOTOR_PORT, &GPIO_InitStruct);
    
    HAL_NVIC_SetPriority(TIM4_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM4_IRQn);
    
    htim.Instance = TIM4;
    htim.Init.Prescaler = SystemCoreClock / (PWM_PERIOD * PWM_RESOLUTION) - 1;
    htim.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim.Init.Period = PWM_RESOLUTION - 1;
    htim.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    HAL_TIM_PWM_Init(&htim);
    
    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = 0;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    HAL_TIM_PWM_ConfigChannel(&htim, &sConfigOC, TIM_CHANNEL_1);
    HAL_TIM_PWM_ConfigChannel(&htim, &sConfigOC, TIM_CHANNEL_2);
    
    HAL_TIM_PWM_Start(&htim, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim, TIM_CHANNEL_2);
}

// 控制小车电机向前走
void Motor_Forward(void) {
    TIM4->CCR1 = MOTOR_SPEED * PWM_RESOLUTION / 100;
    TIM4->CCR2 = MOTOR_SPEED * PWM_RESOLUTION / 100;
}

// 控制小车电机向左转
void Motor_Left(void) {
    TIM4->CCR1 = 0;
    TIM4->CCR2 = MOTOR_SPEED * PWM_RESOLUTION / 100;
}

// 控制小车电机向右转
void Motor_Right(void) {
    TIM4->CCR1 = MOTOR_SPEED * PWM_RESOLUTION / 100;
    TIM4->CCR2 = 0;
}

// 获取红外传感器的值
uint16_t IR_Sensor_Read(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin) {
    return HAL_GPIO_ReadPin(GPIOx, GPIO_Pin);
}

// 控制小车运动
void Car_Control(CarState state) {
    switch(state) {
        case FORWARD:
            Motor_Forward();
            break;
        case LEFT:
            Motor_Left();
            break;
        case RIGHT:
            Motor_Right();
            break;
        default:
            Motor_Forward();
            break;
    }
}

// 定时器中断处理函数，每隔10ms读取红外传感器的值并控制小车运动
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
    uint16_t left_value, right_value;
    CarState state = FORWARD;
    
    left_value = IR_Sensor_Read(LEFT_SENSOR_PORT, LEFT_SENSOR_PIN);
    right_value = IR_Sensor_Read(RIGHT_SENSOR_PORT, RIGHT_SENSOR_PIN);
    
    if(left_value < SENSOR_THRESHOLD && right_value < SENSOR_THRESHOLD) {
        state = FORWARD;
    } else if(left_value < SENSOR_THRESHOLD && right_value > SENSOR_THRESHOLD) {
        state = LEFT;
    } else if(left_value > SENSOR_THRESHOLD && right_value < SENSOR_THRESHOLD) {
        state = RIGHT;
    } else {
        state = FORWARD;
    }
    
    Car_Control(state);
}

// 程序入口函数
int main(void) {
    HAL_Init();
    IR_Sensor_Init();
    Motor_Init();
    HAL_TIM_Base_Start_IT(&htim4);
    while (1) {}
}

以上是一个基于HAL库的循迹代码，代码中使用了定时器中断处理函数来实现每隔10ms读取红外传感器的值并控制小车运动。如果您有其他问题或疑问，可以继续提出来，我会尽力为您解答。