STM32F103C8T6实现循迹的代码？

实现循迹的代码需要配合相应的硬件电路才能正常运行，具体的实现方式也会因为硬件电路的不同而有所差异。在STM32F103C8T6中，可以通过ADC模块采集传感器数据，然后根据不同的传感器数值来控制电机运动，从而实现循迹。

以下是一个简单的STM32F103C8T6实现循迹的代码示例：

#include "stm32f10x.h"
#include "stm32f10x_adc.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"
#include "stm32f10x_tim.h"

#define SensorLeft GPIO_Pin_0
#define SensorMiddle GPIO_Pin_1
#define SensorRight GPIO_Pin_2

#define MotorLeft1 GPIO_Pin_3
#define MotorLeft2 GPIO_Pin_4
#define MotorRight1 GPIO_Pin_5
#define MotorRight2 GPIO_Pin_6

void GPIO_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE);

    // 配置传感器引脚为输入模式
    GPIO_InitStructure.GPIO_Pin = SensorLeft | SensorMiddle | SensorRight;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    // 配置电机引脚为输出模式
    GPIO_InitStructure.GPIO_Pin = MotorLeft1 | MotorLeft2 | MotorRight1 | MotorRight2;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);
}

void ADC_Configuration(void)
{
    ADC_InitTypeDef ADC_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);

    ADC_DeInit(ADC1);
    ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
    ADC_InitStructure.ADC_ScanConvMode = DISABLE;
    ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
    ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
    ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
    ADC_InitStructure.ADC_NbrOfChannel = 1;
    ADC_Init(ADC1, &ADC_InitStructure);
    ADC_Cmd(ADC1, ENABLE);

    // 配置ADC通道
    ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_239Cycles5);
}

void TIM_Configuration(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

    TIM_TimeBaseStructure.TIM_Period = 899;
    TIM_TimeBaseStructure.TIM_Prescaler = 719;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &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;

    // 配置PWM输出引脚
    TIM_OC1Init(TIM3, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
    TIM_Cmd(TIM3, ENABLE);
}

void delay_ms(uint16_t ms)
{
    uint16_t i, j;
    for (i = 0; i < ms; i++)
        for (j = 0; j < 1141; j++)
            __NOP();
}

int main(void)
{
    int left, middle, right;

    GPIO_Configuration();
    ADC_Configuration();
    TIM_Configuration();

    while (1)
    {
        // 读取传感器数值
        ADC_SoftwareStartConvCmd(ADC1, ENABLE);
        while (!ADC_GetFlagStatus(ADC1, ADC_FLAG_EOC))
            ;
        left = ADC_GetConversionValue(ADC1);

        ADC_SoftwareStartConvCmd(ADC1, ENABLE);
        while (!ADC_GetFlagStatus(ADC1, ADC_FLAG_EOC))
            ;
        middle = ADC_GetConversionValue(ADC1);

        ADC_SoftwareStartConvCmd(ADC1, ENABLE);
        while (!ADC_GetFlagStatus(ADC1, ADC_FLAG_EOC))
            ;
        right = ADC_GetConversionValue(ADC1);

        // 根据传感器数值控制电机运动
        if (middle > 500)
        {
            GPIO_SetBits(GPIOB, MotorLeft1);
            GPIO_ResetBits(GPIOB, MotorLeft2);
            GPIO_SetBits(GPIOB, MotorRight1);
            GPIO_ResetBits(GPIOB, MotorRight2);
        }
        else if (left > right)
        {
            GPIO_SetBits(GPIOB, MotorLeft1);
            GPIO_ResetBits(GPIOB, MotorLeft2);
            GPIO_ResetBits(GPIOB, MotorRight1);
            GPIO_SetBits(GPIOB, MotorRight2);
        }
        else if (right > left)
        {
            GPIO_ResetBits(GPIOB, MotorLeft1);
            GPIO_SetBits(GPIOB, MotorLeft2);
            GPIO_SetBits(GPIOB, MotorRight1);
            GPIO_ResetBits(GPIOB, MotorRight2);
        }

        delay_ms(10);
    }
}