超声波测距控制电机转动c代码
时间: 2023-08-11 20:07:09 浏览: 52
以下是一个基于 STM32 的超声波测距控制电机转动的 C 代码示例:
```c
#include "stm32f10x.h"
#define TRIG_PIN GPIO_Pin_0
#define ECHO_PIN GPIO_Pin_1
#define MOTOR_PIN GPIO_Pin_2
void delay_us(uint32_t us)
{
uint32_t count = 8 * us;
while (count--);
}
void TIM2_IRQHandler(void)
{
if (TIM_GetITStatus(TIM2, TIM_IT_CC1) != RESET)
{
TIM_ClearITPendingBit(TIM2, TIM_IT_CC1);
uint32_t time_start = TIM_GetCapture1(TIM2);
while (GPIO_ReadInputDataBit(GPIOA, ECHO_PIN));
uint32_t time_end = TIM_GetCapture1(TIM2);
uint32_t distance = (time_end - time_start) * 17 / 100;
if (distance < 10)
{
GPIO_SetBits(GPIOA, MOTOR_PIN);
TIM_SetCompare1(TIM3, 500);
}
else
{
GPIO_ResetBits(GPIOA, MOTOR_PIN);
TIM_SetCompare1(TIM3, 0);
}
}
}
int main(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
// 配置超声波模块的 TRIG 引脚
GPIO_InitStructure.GPIO_Pin = TRIG_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// 配置超声波模块的 ECHO 引脚
GPIO_InitStructure.GPIO_Pin = ECHO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// 配置电机控制引脚
GPIO_InitStructure.GPIO_Pin = MOTOR_PIN;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// 配置计数器 TIM2 用于捕获超声波信号
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = 71;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0;
TIM_ICInit(TIM2, &TIM_ICInitStructure);
TIM_ITConfig(TIM2, TIM_IT_CC1, ENABLE);
TIM_Cmd(TIM2, ENABLE);
// 配置计数器 TIM3 用于控制电机转速
TIM_TimeBaseStructure.TIM_Period = 999;
TIM_TimeBaseStructure.TIM_Prescaler = 71;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
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;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_Cmd(TIM3, ENABLE);
// 配置 NVIC 中断向量表
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
while (1)
{
GPIO_SetBits(GPIOA, TRIG_PIN);
delay_us(10);
GPIO_ResetBits(GPIOA, TRIG_PIN);
delay_us(50000);
}
}
```
该代码使用了 TIM2 计数器捕获超声波信号,使用 TIM3 计数器控制电机转速。在 main 函数中,不断地向超声波模块发送触发信号,而在 TIM2 中断函数中,计算超声波信号的时间差,并根据距离值控制电机的转速。需要注意的是,该代码仅供参考,具体实现需要根据硬件和环境的实际情况进行调整和改进。