基于stm32f103c8t6的小车循迹代码
时间: 2024-04-26 08:19:40 浏览: 13
基于STM32F103C8T6的小车循迹代码可以通过使用红外传感器来实现。以下是一个简单的示例代码:
```c
#include "stm32f10x.h"
#define LEFT_SENSOR_PIN GPIO_Pin_0
#define RIGHT_SENSOR_PIN GPIO_Pin_1
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = LEFT_SENSOR_PIN | RIGHT_SENSOR_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
}
int main(void)
{
GPIO_Configuration();
while (1)
{
if (GPIO_ReadInputDataBit(GPIOA, LEFT_SENSOR_PIN) == Bit_RESET && GPIO_ReadInputDataBit(GPIOA, RIGHT_SENSOR_PIN) == Bit_RESET)
{
// Both sensors detect black line
// Move forward
// Your code here
}
else if (GPIO_ReadInputDataBit(GPIOA, LEFT_SENSOR_PIN) == Bit_RESET && GPIO_ReadInputDataBit(GPIOA, RIGHT_SENSOR_PIN) == Bit_SET)
{
// Left sensor detects black line
// Turn left
// Your code here
}
else if (GPIO_ReadInputDataBit(GPIOA, LEFT_SENSOR_PIN) == Bit_SET && GPIO_ReadInputDataBit(GPIOA, RIGHT_SENSOR_PIN) == Bit_RESET)
{
// Right sensor detects black line
// Turn right
// Your code here
}
else
{
// Both sensors detect white surface
// Stop or continue straight
// Your code here
}
}
}
```
这段代码使用了GPIOA的0号和1号引脚作为左右红外传感器的输入引脚。根据传感器的状态,可以实现小车的循迹功能。你可以根据具体的硬件连接和需求来编写移动控制的代码。