stm32红外循迹小车代码
时间: 2023-10-07 15:04:55 浏览: 61
下面是一个基于STM32的红外循迹小车的示例代码。代码使用了GPIO、TIM和PWM等模块,具体实现了小车的前进、后退、左转和右转等基本功能。代码中使用了两个红外传感器来探测地面上的黑线并进行循迹。
```
#include "stm32f10x.h"
#define LeftSensor GPIO_Pin_0
#define RightSensor GPIO_Pin_1
void GPIO_Configuration(void);
void TIM_Configuration(void);
void PWM_Configuration(void);
void delay_ms(uint32_t ms);
int main(void)
{
GPIO_Configuration();
TIM_Configuration();
PWM_Configuration();
while(1)
{
if(GPIO_ReadInputDataBit(GPIOA, LeftSensor) == RESET && GPIO_ReadInputDataBit(GPIOA, RightSensor) == RESET) //both sensors on black line
{
TIM_SetCompare1(TIM2, 0); //stop left motor
TIM_SetCompare2(TIM2, 0); //stop right motor
}
else if(GPIO_ReadInputDataBit(GPIOA, LeftSensor) == RESET && GPIO_ReadInputDataBit(GPIOA, RightSensor) == SET) //left sensor on black line
{
TIM_SetCompare1(TIM2, 0); //stop left motor
TIM_SetCompare2(TIM2, 1000); //move right motor forward
}
else if(GPIO_ReadInputDataBit(GPIOA, LeftSensor) == SET && GPIO_ReadInputDataBit(GPIOA, RightSensor) == RESET) //right sensor on black line
{
TIM_SetCompare1(TIM2, 1000); //move left motor forward
TIM_SetCompare2(TIM2, 0); //stop right motor
}
else //both sensors off black line
{
TIM_SetCompare1(TIM2, 1000); //move left motor forward
TIM_SetCompare2(TIM2, 1000); //move right motor forward
}
delay_ms(10); //delay for 10ms
}
}
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = LeftSensor | RightSensor;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //input pulldown
GPIO_Init(GPIOA, &GPIO_InitStructure);
}
void TIM_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_TimeBaseStructure.TIM_Period = 999; //1ms period
TIM_TimeBaseStructure.TIM_Prescaler = 71; //72MHz/72 = 1MHz
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_OCInitTypeDef TIM_OCInitStructure;
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(TIM2, &TIM_OCInitStructure);
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_Cmd(TIM2, ENABLE);
}
void PWM_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
}
void delay_ms(uint32_t ms)
{
uint32_t i, j;
for(i = 0; i < ms; i++)
for(j = 0; j < 1000; j++);
}
void TIM2_IRQHandler(void)
{
if(TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
{
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
}
}
```
需要注意的是,该示例代码仅用于演示基本原理,实际应用中还需要考虑许多细节问题,如传感器的灵敏度、电机的功率和驱动电路等。同时,我们也可以根据实际需要进行修改和优化。