stm32f103c8t6五路循迹PID算法代码

STM32F103C8T6是一款常用的单片机，循迹PID算法是一种常用的控制算法，可以用于机器人、小车等自动控制系统中的循迹控制。通常，循迹控制的主要步骤包括采集传感器数据、计算偏差值、根据偏差值计算PID参数、调整控制输出等。

下面是一个简单的五路循迹PID算法代码：

#include "stm32f10x.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>

#define RIGHT_SENSOR_GPIO_PIN        GPIO_Pin_0
#define RIGHT_SENSOR_GPIO_PORT       GPIOB
#define RIGHT_SENSOR_ADC_CHANNEL     ADC_Channel_8

#define MID_RIGHT_SENSOR_GPIO_PIN    GPIO_Pin_1
#define MID_RIGHT_SENSOR_GPIO_PORT   GPIOB
#define MID_RIGHT_SENSOR_ADC_CHANNEL ADC_Channel_9

#define MID_SENSOR_GPIO_PIN          GPIO_Pin_2
#define MID_SENSOR_GPIO_PORT         GPIOB
#define MID_SENSOR_ADC_CHANNEL       ADC_Channel_10

#define MID_LEFT_SENSOR_GPIO_PIN     GPIO_Pin_10
#define MID_LEFT_SENSOR_GPIO_PORT    GPIOB
#define MID_LEFT_SENSOR_ADC_CHANNEL  ADC_Channel_15

#define LEFT_SENSOR_GPIO_PIN         GPIO_Pin_11
#define LEFT_SENSOR_GPIO_PORT        GPIOB
#define LEFT_SENSOR_ADC_CHANNEL      ADC_Channel_14

float Kp = 0.5;
float Ki = 0.2;
float Kd = 0.1;

float P, I, D;
float last_error, current_error;
float output;

int main(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    ADC_InitTypeDef  ADC_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_ADC1, ENABLE);

    /* Configure ADC Channel8-15 as analog input */
    GPIO_InitStructure.GPIO_Pin = RIGHT_SENSOR_GPIO_PIN | MID_RIGHT_SENSOR_GPIO_PIN | MID_SENSOR_GPIO_PIN | MID_LEFT_SENSOR_GPIO_PIN | LEFT_SENSOR_GPIO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    /* Configure and enable ADC1 */
    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 = 5;
    ADC_Init(ADC1, &ADC_InitStructure);

    /* Configure ADC1 Channel8-15 pin */
    ADC_RegularChannelConfig(ADC1, RIGHT_SENSOR_ADC_CHANNEL, 1, ADC_SampleTime_239Cycles5);
    ADC_RegularChannelConfig(ADC1, MID_RIGHT_SENSOR_ADC_CHANNEL, 2, ADC_SampleTime_239Cycles5);
    ADC_RegularChannelConfig(ADC1, MID_SENSOR_ADC_CHANNEL, 3, ADC_SampleTime_239Cycles5);
    ADC_RegularChannelConfig(ADC1, MID_LEFT_SENSOR_ADC_CHANNEL, 4, ADC_SampleTime_239Cycles5);
    ADC_RegularChannelConfig(ADC1, LEFT_SENSOR_ADC_CHANNEL, 5, ADC_SampleTime_239Cycles5);

    /* Enable ADC1 */
    ADC_Cmd(ADC1, ENABLE);

    /* Start ADC1 Software Conversion */
    ADC_SoftwareStartConvCmd(ADC1, ENABLE);

    while (1) {

        /* Read sensor values */
        float right_sensor_value = (float)ADC_GetConversionValue(ADC1);
        float mid_right_sensor_value = (float)ADC_GetConversionValue(ADC1);
        float mid_sensor_value = (float)ADC_GetConversionValue(ADC1);
        float mid_left_sensor_value = (float)ADC_GetConversionValue(ADC1);
        float left_sensor_value = (float)ADC_GetConversionValue(ADC1);

        /* Calculate error */
        float error = (left_sensor_value + mid_left_sensor_value - mid_sensor_value - mid_right_sensor_value - right_sensor_value) / 5.0;

        /* PID algorithm */
        P = Kp * error;
        I += Ki * error;
        D = Kd * (error - last_error);
        output = P + I + D;

        last_error = error;

        /* Output control signal */
        // code here

        /* Delay for a while */
        // code here

    }

}