stm32f103zet6小车走直线

要让STM32F103ZET6小车走直线，需要控制小车的两个驱动电机，使它们旋转速度相等且方向相同。可以使用PWM信号控制电机的转速和方向。

以下是一个简单的实现步骤：

1.设置GPIO引脚为输出模式，用于控制电机的方向；
2.设置TIM定时器为PWM输出模式，用于控制电机的转速；
3.调整PWM占空比以控制电机的转速；
4.设置电机的方向，使两个电机的方向相同；
5.使小车前进。

下面是一个参考代码片段，其中PA8和PA9分别连接到电机驱动器的IN1和IN2端口：

#include "stm32f10x.h"

int main(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_OCInitTypeDef  TIM_OCInitStructure;
    
    // Enable clock for GPIOA and TIM1
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_TIM1, ENABLE);

    // Configure PA8 and PA9 as output push-pull
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    
    // Configure TIM1 as PWM mode 1
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_Period = 999;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
    
    // Configure TIM1 channel 1 and 2 as PWM output
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 500;  // initial duty cycle
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC1Init(TIM1, &TIM_OCInitStructure);
    TIM_OC2Init(TIM1, &TIM_OCInitStructure);

    // Start TIM1
    TIM_Cmd(TIM1, ENABLE);
    
    // Set both motors to forward direction
    GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_SET);
    GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
    
    // Move forward
    TIM_SetCompare1(TIM1, 800);  // set duty cycle to 80%
    TIM_SetCompare2(TIM1, 800);
    
    while (1)
    {
        // do other things here
    }
}

注意，此代码仅供参考，具体实现需要根据实际情况进行修改。