STM32灰度传感器循迹小车灵敏控制算法代码

以下是一个基于STM32和灰度传感器的循迹小车灵敏控制算法的示例代码，供参考：

#include "stm32f10x.h"
#include "delay.h"
#include "usart.h"

#define LED_RCC RCC_APB2Periph_GPIOB
#define LED_GPIO GPIOB
#define LED_PIN GPIO_Pin_0

#define SENSOR_RCC RCC_APB2Periph_GPIOA
#define SENSOR_GPIO GPIOA
#define SENSOR_PINS GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3

#define MOTOR_RCC RCC_APB2Periph_GPIOC
#define MOTOR_GPIO GPIOC
#define MOTOR_LEFT1 GPIO_Pin_0
#define MOTOR_LEFT2 GPIO_Pin_1
#define MOTOR_RIGHT1 GPIO_Pin_2
#define MOTOR_RIGHT2 GPIO_Pin_3

#define MOTOR_TIM_RCC RCC_APB1Periph_TIM3
#define MOTOR_TIM TIM3

#define MOTOR_PERIOD 100
#define MOTOR_PRESCALER 72

#define MOTOR_LEFT_FORWARD 100
#define MOTOR_LEFT_BACKWARD 50
#define MOTOR_RIGHT_FORWARD 100
#define MOTOR_RIGHT_BACKWARD 50

#define ERROR_THRESHOLD 50
#define KP 2
#define KD 10

void GPIO_Configuration(void);
void TIM_Configuration(void);
void Sensor_Read(uint8_t *sensor_data);
void Motor_Control(int16_t error);
int16_t PID_Control(uint8_t *sensor_data);

int main(void)
{
  uint8_t sensor_data[4];
  int16_t error;

  GPIO_Configuration();
  TIM_Configuration();

  while (1)
  {
    Sensor_Read(sensor_data);
    error = PID_Control(sensor_data);
    Motor_Control(error);
  }
}

void GPIO_Configuration(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;

  RCC_APB2PeriphClockCmd(LED_RCC, ENABLE);
  GPIO_InitStructure.GPIO_Pin = LED_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(LED_GPIO, &GPIO_InitStructure);

  RCC_APB2PeriphClockCmd(SENSOR_RCC, ENABLE);
  GPIO_InitStructure.GPIO_Pin = SENSOR_PINS;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(SENSOR_GPIO, &GPIO_InitStructure);

  RCC_APB2PeriphClockCmd(MOTOR_RCC, ENABLE);
  GPIO_InitStructure.GPIO_Pin = MOTOR_LEFT1 | MOTOR_LEFT2 | MOTOR_RIGHT1 | MOTOR_RIGHT2;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(MOTOR_GPIO, &GPIO_InitStructure);
}

void TIM_Configuration(void)
{
  TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;

  RCC_APB1PeriphClockCmd(MOTOR_TIM_RCC, ENABLE);

  TIM_TimeBaseStructure.TIM_Period = MOTOR_PERIOD;
  TIM_TimeBaseStructure.TIM_Prescaler = MOTOR_PRESCALER;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(MOTOR_TIM, &TIM_TimeBaseStructure);

  TIM_Cmd(MOTOR_TIM, ENABLE);
}

void Sensor_Read(uint8_t *sensor_data)
{
  uint8_t i;

  for (i = 0; i < 4; i++)
  {
    if (GPIO_ReadInputDataBit(SENSOR_GPIO, SENSOR_PINS & ~(1 << i)))
    {
      sensor_data[i] = 1;
    }
    else
    {
      sensor_data[i] = 0;
    }
  }
}

int16_t PID_Control(uint8_t *sensor_data)
{
  int16_t error = 0;
  static int16_t last_error = 0;

  error = (sensor_data[0] << 3) + (sensor_data[1] << 2) + (sensor_data[2] << 1) + sensor_data[3] - 6;

  if (error > ERROR_THRESHOLD)
  {
    error = ERROR_THRESHOLD;
  }
  else if (error < -ERROR_THRESHOLD)
  {
    error = -ERROR_THRESHOLD;
  }

  error = error * KP + (error - last_error) * KD;
  last_error = error;

  return error;
}

void Motor_Control(int16_t error)
{
  int16_t left_speed = 0;
  int16_t right_speed = 0;

  if (error > 0)
  {
    left_speed = MOTOR_LEFT_FORWARD;
    right_speed = MOTOR_RIGHT_BACKWARD;
  }
  else if (error < 0)
  {
    left_speed = MOTOR_LEFT_BACKWARD;
    right_speed = MOTOR_RIGHT_FORWARD;
  }
  else
  {
    left_speed = MOTOR_LEFT_FORWARD;
    right_speed = MOTOR_RIGHT_FORWARD;
  }

  TIM_SetCompare1(MOTOR_TIM, left_speed);
  TIM_SetCompare2(MOTOR_TIM, 0);
  TIM_SetCompare3(MOTOR_TIM, right_speed);
  TIM_SetCompare4(MOTOR_TIM, 0);
}

该代码实现了一个基于灰度传感器的循迹小车的控制算法。在该代码中，使用PID控制器实现循迹控制，使用PWM信号控制小车的速度，使用电机驱动器控制小车的方向。在每次循迹过程中，读取灰度传感器的数据，根据传感器数据反馈进行调整，以保持小车在黑线上运动。需要注意的是，该代码仅供参考，具体的控制算法需要根据具体的应用场景进行设计和调整。