请写一段代码，使通过STM32控制A4950，控制避障寻迹运行

### 回答1：

#include "stm32f10x.h"
#include "A4950.h" void A4950_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
A4950_GPIO_Config(); //配置GPIO
A4950_EN_HIGH; //使能端置高
A4950_DIR_HIGH; //方向端置高，表示正转
} void A4950_PWM_Control(u16 DutyCycle)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
u32 TIM_Period = 0;

A4950_TIM_Config();

TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = TIM_Period;
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(A4950_TIM, &TIM_TimeBaseStructure);

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = DutyCycle;
TIM_OC1Init(A4950_TIM, &TIM_OCInitStructure);

TIM_CtrlPWMOutputs(A4950_TIM,ENABLE);
} void A4950_Robot_Run(void)
{
A4950_PWM_Control(100); //100%占空比
}

### 回答2：
以下是一个示例代码，演示了如何通过STM32控制A4950芯片，实现避障寻迹运行。

首先，需要引入相应的库文件，包括STM32 HAL库和A4950库。在初始化函数中，配置STM32的引脚以及A4950芯片的相关设置。

#include "stm32f4xx_hal.h"
#include "a4950.h"

// 定义引脚
#define A4950_PWM_PIN  GPIO_PIN_1
#define A4950_PWM_PORT GPIOA
#define A4950_DIR_PIN  GPIO_PIN_2
#define A4950_DIR_PORT GPIOA
#define A4950_EN_PIN   GPIO_PIN_3
#define A4950_EN_PORT  GPIOA

void SystemClock_Config(void);
void GPIO_Init(void);
void A4950_Init(void);

int main(void)
{
    HAL_Init();
    SystemClock_Config();
    GPIO_Init();
    A4950_Init();

    // 启用A4950芯片
    A4950_Enable();

    while (1)
    {
        // 获取传感器数据，进行判断
        if (obstacle_detected())
        {
            // 避障
            A4950_SetDirection(LEFT);
            A4950_SetSpeed(50);
        }
        else
        {
            // 寻迹
            A4950_SetDirection(RIGHT);
            A4950_SetSpeed(50);
        }
    }
}

void A4950_Init(void)
{
    A4950_PWM_Init(A4950_PWM_PIN, A4950_PWM_PORT);  // 初始化PWM引脚
    A4950_DIR_Init(A4950_DIR_PIN, A4950_DIR_PORT);  // 初始化方向引脚
    A4950_EN_Init(A4950_EN_PIN, A4950_EN_PORT);    // 初始化使能引脚
}

// 系统时钟初始化函数
void SystemClock_Config(void)
{
    RCC_OscInitTypeDef RCC_OscInitStruct;
    RCC_ClkInitTypeDef RCC_ClkInitStruct;

    __HAL_RCC_PWR_CLK_ENABLE();

    __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.HSICalibrationValue = 16;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
    RCC_OscInitStruct.PLL.PLLM = 16;
    RCC_OscInitStruct.PLL.PLLN = 336;
    RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
    RCC_OscInitStruct.PLL.PLLQ = 7;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    {
        while (1);
    }

    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
    {
        while (1);
    }

    HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);

    HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

    HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

以上代码演示了通过STM32控制A4950进行避障寻迹运行。代码的主要逻辑是在无限循环中获取传感器数据并进行判断，如果检测到障碍物，则设置A4950为向左运行，并设置速度为50。如果没有检测到障碍物，则设置A4950为向右运行，并设置速度为50。需要注意根据实际情况，进行适当的改动和优化。