stm32f103c8t6四轮小车前进代码

以下是一个简单的 STM32F103C8T6 四轮小车前进的代码片段，使用 PWM 控制电机速度：

#include "stm32f10x.h"

// 定义引脚和定时器
#define IN1_PIN GPIO_Pin_0
#define IN1_PORT GPIOA
#define IN2_PIN GPIO_Pin_1
#define IN2_PORT GPIOA
#define IN3_PIN GPIO_Pin_2
#define IN3_PORT GPIOA
#define IN4_PIN GPIO_Pin_3
#define IN4_PORT GPIOA

#define TIM_PERIOD 1000

void TIM3_Init(void);
void Motor_Init(void);
void Motor_Forward(void);

int main(void)
{
  TIM3_Init();
  Motor_Init();
  
  while (1)
  {
    Motor_Forward();
  }
}

void TIM3_Init(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;
    GPIO_InitTypeDef GPIO_InitStructure;

    // 使能定时器3和GPIOA时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

    // 配置GPIO引脚为复用推挽输出
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    // 定时器3初始化
    TIM_TimeBaseStructure.TIM_Prescaler = 7200 - 1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_Period = TIM_PERIOD - 1;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

    // PWM初始化
    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;

    // 配置通道1
    TIM_OC1Init(TIM3, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);

    // 配置通道2
    TIM_OC2Init(TIM3, &TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);

    // 使能定时器3
    TIM_Cmd(TIM3, ENABLE);
}

void Motor_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    // 使能GPIOA时钟
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

    // 配置引脚为推挽输出
    GPIO_InitStructure.GPIO_Pin = IN1_PIN | IN2_PIN | IN3_PIN | IN4_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
}

void Motor_Forward(void)
{
    // 设置引脚电平，使电机前进
    GPIO_SetBits(IN1_PORT, IN1_PIN);
    GPIO_ResetBits(IN2_PORT, IN2_PIN);
    
    GPIO_SetBits(IN3_PORT, IN3_PIN);
    GPIO_ResetBits(IN4_PORT, IN4_PIN);

    // 设置PWM占空比，控制电机速度
    TIM_SetCompare1(TIM3, TIM_PERIOD / 2);  // CH1 PWM占空比
    TIM_SetCompare2(TIM3, TIM_PERIOD / 2);  // CH2 PWM占空比
}

请注意，以上代码仅为示例，你需要根据你的具体硬件连接和需求进行适当的修改和配置。同时，你还需要在工程中添加正确的库文件和配置文件。希望对你有帮助！