基于stm32f103c8t6的pwm调速红外循迹代码

以下是基于STM32F103C8T6的PWM调速红外循迹代码的示例：

#include "stm32f10x.h"

#define PERIOD 1000 // PWM周期（单位：us）
#define PWM_MAX 1000 // PWM最大占空比

void TIM1_PWM_Init(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    TIM_TimeBaseInitStructure.TIM_Period = PERIOD - 1;
    TIM_TimeBaseInitStructure.TIM_Prescaler = 71; //定时器分频系数为72
    TIM_TimeBaseInitStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM1, &TIM_TimeBaseInitStructure);

    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;
    TIM_OC1Init(TIM1, &TIM_OCInitStructure);
    TIM_OC2Init(TIM1, &TIM_OCInitStructure);
    TIM_OC3Init(TIM1, &TIM_OCInitStructure);
    TIM_OC4Init(TIM1, &TIM_OCInitStructure);

    TIM_Cmd(TIM1, ENABLE);
}

void PWM_SetDuty(TIM_TypeDef* TIMx, uint16_t duty1, uint16_t duty2, uint16_t duty3, uint16_t duty4)
{
    TIMx->CCR1 = duty1;
    TIMx->CCR2 = duty2;
    TIMx->CCR3 = duty3;
    TIMx->CCR4 = duty4;
}

int main(void)
{
    uint16_t duty1 = 0, duty2 = 0, duty3 = 0, duty4 = 0;

    TIM1_PWM_Init();

    while (1)
    {
        //根据红外循迹结果设置PWM占空比
        //duty1、duty2、duty3、duty4分别对应四个电机的PWM占空比
        PWM_SetDuty(TIM1, duty1 * PWM_MAX / 100, duty2 * PWM_MAX / 100, duty3 * PWM_MAX / 100, duty4 * PWM_MAX / 100);
    }
}

其中，`TIM1_PWM_Init`函数用于初始化TIM1为PWM输出模式，`PWM_SetDuty`函数用于设置PWM占空比。在`main`函数中，根据红外循迹结果设置四个电机的PWM占空比。该示例代码仅供参考，具体实现需要根据实际情况进行修改。