stm32f103c8t6用pid算法控制五路循迹小车（无需测速，用直流电机控制）

好的，下面是一个简单的基于STM32F103C8T6的PID算法控制五路循迹小车的示例代码：

#include "stm32f10x.h"

// 定义电机控制引脚
#define MOTOR_1_A_Pin GPIO_Pin_0
#define MOTOR_1_B_Pin GPIO_Pin_1
#define MOTOR_2_A_Pin GPIO_Pin_2
#define MOTOR_2_B_Pin GPIO_Pin_3
#define MOTOR_3_A_Pin GPIO_Pin_4
#define MOTOR_3_B_Pin GPIO_Pin_5
#define MOTOR_4_A_Pin GPIO_Pin_6
#define MOTOR_4_B_Pin GPIO_Pin_7
#define MOTOR_5_A_Pin GPIO_Pin_8
#define MOTOR_5_B_Pin GPIO_Pin_9

// 定义循迹传感器引脚
#define SENSOR_1_Pin GPIO_Pin_10
#define SENSOR_2_Pin GPIO_Pin_11
#define SENSOR_3_Pin GPIO_Pin_12
#define SENSOR_4_Pin GPIO_Pin_13
#define SENSOR_5_Pin GPIO_Pin_14

// PID参数
double kp = 0.5;
double ki = 0.1;
double kd = 0.1;

// 循迹传感器阈值
int threshold = 500;

// 当前偏差
int currentError = 0;

// 上一次偏差
int lastError = 0;

// 积分项
double integral = 0;

// 微分项
double derivative = 0;

// 目标速度（PWM占空比）
int targetSpeed = 100;

// 左右电机PWM值
int pwmLeft = 0;
int pwmRight = 0;

// 初始化GPIO
void initGPIO()
{
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
    GPIO_InitTypeDef GPIO_InitStruct;
    GPIO_InitStruct.GPIO_Pin = MOTOR_1_A_Pin | MOTOR_1_B_Pin | MOTOR_2_A_Pin | MOTOR_2_B_Pin | MOTOR_3_A_Pin | MOTOR_3_B_Pin | MOTOR_4_A_Pin | MOTOR_4_B_Pin | MOTOR_5_A_Pin | MOTOR_5_B_Pin;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStruct);
    GPIO_InitStruct.GPIO_Pin = SENSOR_1_Pin | SENSOR_2_Pin | SENSOR_3_Pin | SENSOR_4_Pin | SENSOR_5_Pin;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AIN;
    GPIO_Init(GPIOB, &GPIO_InitStruct);
}

// 读取循迹传感器值
void readSensors(int *sensorValues)
{
    sensorValues[0] = ADC_GetConversionValue(ADC1);
    sensorValues[1] = ADC_GetConversionValue(ADC2);
    sensorValues[2] = ADC_GetConversionValue(ADC3);
    sensorValues[3] = ADC_GetConversionValue(ADC4);
    sensorValues[4] = ADC_GetConversionValue(ADC5);
}

// 控制电机
void controlMotors(int pwmLeft, int pwmRight)
{
    if (pwmLeft > 0)
    {
        GPIO_SetBits(GPIOA, MOTOR_1_A_Pin);
        GPIO_ResetBits(GPIOA, MOTOR_1_B_Pin);
        TIM_SetCompare1(TIM1, pwmLeft);
    }
    else if (pwmLeft < 0)
    {
        GPIO_ResetBits(GPIOA, MOTOR_1_A_Pin);
        GPIO_SetBits(GPIOA, MOTOR_1_B_Pin);
        TIM_SetCompare1(TIM1, -pwmLeft);
    }
    else
    {
        GPIO_ResetBits(GPIOA, MOTOR_1_A_Pin);
        GPIO_ResetBits(GPIOA, MOTOR_1_B_Pin);
        TIM_SetCompare1(TIM1, 0);
    }

    if (pwmRight > 0)
    {
        GPIO_SetBits(GPIOA, MOTOR_2_A_Pin);
        GPIO_ResetBits(GPIOA, MOTOR_2_B_Pin);
        TIM_SetCompare2(TIM1, pwmRight);
    }
    else if (pwmRight < 0)
    {
        GPIO_ResetBits(GPIOA, MOTOR_2_A_Pin);
        GPIO_SetBits(GPIOA, MOTOR_2_B_Pin);
        TIM_SetCompare2(TIM1, -pwmRight);
    }
    else
    {
        GPIO_ResetBits(GPIOA, MOTOR_2_A_Pin);
        GPIO_ResetBits(GPIOA, MOTOR_2_B_Pin);
        TIM_SetCompare2(TIM1, 0);
    }

    if (pwmLeft > 0)
    {
        GPIO_SetBits(GPIOA, MOTOR_3_A_Pin);
        GPIO_ResetBits(GPIOA, MOTOR_3_B_Pin);
        TIM_SetCompare3(TIM1, pwmLeft);
    }
    else if (pwmLeft < 0)
    {
        GPIO_ResetBits(GPIOA, MOTOR_3_A_Pin);
        GPIO_SetBits(GPIOA, MOTOR_3_B_Pin);
        TIM_SetCompare3(TIM1, -pwmLeft);
    }
    else
    {
        GPIO_ResetBits(GPIOA, MOTOR_3_A_Pin);
        GPIO_ResetBits(GPIOA, MOTOR_3_B_Pin);
        TIM_SetCompare3(TIM1, 0);
    }

    if (pwmRight > 0)
    {
        GPIO_SetBits(GPIOA, MOTOR_4_A_Pin);
        GPIO_ResetBits(GPIOA, MOTOR_4_B_Pin);
        TIM_SetCompare4(TIM1, pwmRight);
    }
    else if (pwmRight < 0)
    {
        GPIO_ResetBits(GPIOA, MOTOR_4_A_Pin);
        GPIO_SetBits(GPIOA, MOTOR_4_B_Pin);
        TIM_SetCompare4(TIM1, -pwmRight);
    }
    else
    {
        GPIO_ResetBits(GPIOA, MOTOR_4_A_Pin);
        GPIO_ResetBits(GPIOA, MOTOR_4_B_Pin);
        TIM_SetCompare4(TIM1, 0);
    }

    if (pwmLeft > 0)
    {
        GPIO_SetBits(GPIOA, MOTOR_5_A_Pin);
        GPIO_ResetBits(GPIOA, MOTOR_5_B_Pin);
    }
    else if (pwmLeft < 0)
    {
        GPIO_ResetBits(GPIOA, MOTOR_5_A_Pin);
        GPIO_SetBits(GPIOA, MOTOR_5_B_Pin);
    }
    else
    {
        GPIO_ResetBits(GPIOA, MOTOR_5_A_Pin);
        GPIO_ResetBits(GPIOA, MOTOR_5_B_Pin);
    }
}

// 计算PID控制量
void calculatePID(int *sensorValues)
{
    currentError = 0;
    int sum = 0;
    for (int i = 0; i < 5; i++)
    {
        if (sensorValues[i] > threshold)
        {
            currentError += (i - 2) * sensorValues[i];
            sum += sensorValues[i];
        }
    }
    if (sum == 0)
    {
        currentError = 0;
    }
    else
    {
        currentError /= sum;
    }
    integral += currentError;
    derivative = currentError - lastError;
    lastError = currentError;
    pwmLeft = targetSpeed + kp * currentError + ki * integral + kd * derivative;
    pwmRight = targetSpeed - kp * currentError - ki * integral - kd * derivative;
}

int main(void)
{
    // 初始化GPIO
    initGPIO();

    // 初始化ADC
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2 | RCC_APB2Periph_ADC3 | RCC_APB2Periph_ADC4 | RCC_APB2Periph_ADC5, ENABLE);
    ADC_InitTypeDef ADC_InitStruct;
    ADC_InitStruct.ADC_Mode = ADC_Mode_Independent;
    ADC_InitStruct.ADC_ScanConvMode = ENABLE;
    ADC_InitStruct.ADC_ContinuousConvMode = ENABLE;
    ADC_InitStruct.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
    ADC_InitStruct.ADC_DataAlign = ADC_DataAlign_Right;
    ADC_InitStruct.ADC_NbrOfChannel = 5;
    ADC_Init(ADC1, &ADC_InitStruct);
    ADC_Init(ADC2, &ADC_InitStruct);
    ADC_Init(ADC3, &ADC_InitStruct);
    ADC_Init(ADC4, &ADC_InitStruct);
    ADC_Init(ADC5, &ADC_InitStruct);
    ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_55Cycles5);
    ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 1, ADC_SampleTime_55Cycles5);
    ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 1, ADC_SampleTime_55Cycles5);
    ADC_RegularChannelConfig(ADC4, ADC_Channel_13, 1, ADC_SampleTime_55Cycles5);
    ADC_RegularChannelConfig(ADC5, ADC_Channel_14, 1, ADC_SampleTime_55Cycles5);
    ADC_Cmd(ADC1, ENABLE);
    ADC_Cmd(ADC2, ENABLE);
    ADC_Cmd(ADC3, ENABLE);
    ADC_Cmd(ADC4, ENABLE);
    ADC_Cmd(ADC5, ENABLE);
    ADC_ResetCalibration(ADC1);
    ADC_ResetCalibration(ADC2);
    ADC_ResetCalibration(ADC3);
    ADC_ResetCalibration(ADC4);
    ADC_ResetCalibration(ADC5);
    while (ADC_GetResetCalibrationStatus(ADC1) || ADC_GetResetCalibrationStatus(ADC2) || ADC_GetResetCalibrationStatus(ADC3) || ADC_GetResetCalibrationStatus(ADC4) || ADC_GetResetCalibrationStatus(ADC5));
    ADC_StartCalibration(ADC1);
    ADC_StartCalibration(ADC2);
    ADC_StartCalibration(ADC3);
    ADC_StartCalibration(ADC4);
    ADC_StartCalibration(ADC5);
    while (ADC_GetCalibrationStatus(ADC1) || ADC_GetCalibrationStatus(ADC2) || ADC_GetCalibrationStatus(ADC3) || ADC_GetCalibrationStatus(ADC4) || ADC_GetCalibrationStatus(ADC5));
    ADC_SoftwareStartConvCmd(ADC1, ENABLE);
    ADC_SoftwareStartConvCmd(ADC2, ENABLE);
    ADC_SoftwareStartConvCmd(ADC3, ENABLE);
    ADC_SoftwareStartConvCmd(ADC4, ENABLE);
    ADC_SoftwareStartConvCmd(ADC5, ENABLE);

    // 初始化定时器
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStruct;
    TIM_TimeBaseStruct.TIM_Prescaler = 72 - 1;
    TIM_TimeBaseStruct.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStruct.TIM_Period = 1000 - 1;
    TIM_TimeBaseStruct.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStruct.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStruct);
    TIM_Cmd(TIM1, ENABLE);
    TIM_OCInitTypeDef TIM_OCInitStruct;
    TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStruct.TIM_OutputNState = TIM_OutputNState_Disable;
    TIM_OCInitStruct.TIM_Pulse = 0;
    TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStruct.TIM_OCNPolarity = TIM_OCNPolarity_High;
    TIM_OCInitStruct.TIM_OCIdleState = TIM_OCIdleState_Reset;
    TIM_OCInitStruct.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
    TIM_OC1Init(TIM1, &TIM_OCInitStruct);
    TIM_OC2Init(TIM1, &TIM_OCInitStruct);
    TIM_OC3Init(TIM1, &TIM_OCInitStruct);
    TIM_OC4Init(TIM1, &TIM_OCInitStruct);

    while (1)
    {
        int sensorValues[5];
        readSensors(sensorValues);
        calculatePID(sensorValues);
        controlMotors(pwmLeft, pwmRight);
    }
}

这个代码中，我们使用了STM32F103C8T6的定时器和PWM功能来控制电机的转速，使用了STM32F103C8T6的ADC功能来读取循迹传感器的值，并通过PID算法计算出左右电机的PWM值，从而实现对五路循迹小车的控制。