用stm32f103c8t6和l298n制作四轮智慧小车的代码

好的，以下是使用STM32F103C8T6和L298N驱动模块制作四轮智能小车的基本代码：

/* Includes ------------------------------------------------------------------*/
#include "stm32f10x.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"
#include "stm32f10x_tim.h"

/* Private functions ---------------------------------------------------------*/

/**
 * @brief  Configure the GPIO Pins.
 * @param  None
 * @retval None
 */
void GPIO_Configuration(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;

  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

  /* Configure PB.06 PB.07 PB.08 PB.09 as output push-pull */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOB, &GPIO_InitStructure);
}

/**
 * @brief  Configure the PWM output.
 * @param  None
 * @retval None
 */
void PWM_Configuration(void)
{
  TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
  TIM_OCInitTypeDef TIM_OCInitStructure;

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

  TIM_TimeBaseStructure.TIM_Period = 1000;
  TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;
  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_OC2Init(TIM3, &TIM_OCInitStructure);
  TIM_OC3Init(TIM3, &TIM_OCInitStructure);
  TIM_OC4Init(TIM3, &TIM_OCInitStructure);

  TIM_Cmd(TIM3, ENABLE);
}

/**
 * @brief  Configure the direction of the motors.
 * @param  s: The speed of the motors.
 * @retval None
 */
void Motor_Configuration(float s)
{
  if (s > 0)
  {
    GPIO_SetBits(GPIOB, GPIO_Pin_6);
    GPIO_ResetBits(GPIOB, GPIO_Pin_7);
    GPIO_SetBits(GPIOB, GPIO_Pin_8);
    GPIO_ResetBits(GPIOB, GPIO_Pin_9);
    TIM_SetCompare1(TIM3, s * 10);
    TIM_SetCompare2(TIM3, 0);
    TIM_SetCompare3(TIM3, s * 10);
    TIM_SetCompare4(TIM3, 0);
  }
  else if (s < 0)
  {
    GPIO_ResetBits(GPIOB, GPIO_Pin_6);
    GPIO_SetBits(GPIOB, GPIO_Pin_7);
    GPIO_ResetBits(GPIOB, GPIO_Pin_8);
    GPIO_SetBits(GPIOB, GPIO_Pin_9);
    TIM_SetCompare1(TIM3, 0);
    TIM_SetCompare2(TIM3, -s * 10);
    TIM_SetCompare3(TIM3, 0);
    TIM_SetCompare4(TIM3, -s * 10);
  }
  else
  {
    GPIO_ResetBits(GPIOB, GPIO_Pin_6);
    GPIO_ResetBits(GPIOB, GPIO_Pin_7);
    GPIO_ResetBits(GPIOB, GPIO_Pin_8);
    GPIO_ResetBits(GPIOB, GPIO_Pin_9);
    TIM_SetCompare1(TIM3, 0);
    TIM_SetCompare2(TIM3, 0);
    TIM_SetCompare3(TIM3, 0);
    TIM_SetCompare4(TIM3, 0);
  }
}

/**
 * @brief  Main program.
 * @param  None
 * @retval None
 */
int main(void)
{
  float speed = 0;

  GPIO_Configuration();
  PWM_Configuration();

  while (1)
  {
    /* Set the speed of the motors */
    Motor_Configuration(speed);

    /* Increase the speed of the motors */
    speed += 0.1f;
    if (speed > 1)
    {
      speed = -1;
    }

    /* Delay */
    int i;
    for (i = 0; i < 1000000; i++);
  }
}

需要注意的是，以上代码只是一个简单的示例，具体实现还需要根据具体的硬件和功能需求进行修改和优化。同时，需要根据自己的实际情况进行适当的调节和参数设置。