写一个stm32智能循迹避障小车代码

循迹避障小车是一个很有趣的项目，下面是一个基于STM32的循迹避障小车的代码示例：

#include "stm32f10x.h"

#define LeftMotorEN_RCC         RCC_APB2Periph_GPIOC
#define LeftMotorEN_GPIO        GPIOC
#define LeftMotorEN_Pin         GPIO_Pin_13

#define LeftMotorIN1_RCC        RCC_APB2Periph_GPIOB
#define LeftMotorIN1_GPIO       GPIOB
#define LeftMotorIN1_Pin        GPIO_Pin_14

#define LeftMotorIN2_RCC        RCC_APB2Periph_GPIOB
#define LeftMotorIN2_GPIO       GPIOB
#define LeftMotorIN2_Pin        GPIO_Pin_15

#define RightMotorEN_RCC        RCC_APB2Periph_GPIOC
#define RightMotorEN_GPIO       GPIOC
#define RightMotorEN_Pin        GPIO_Pin_14

#define RightMotorIN1_RCC       RCC_APB2Periph_GPIOA
#define RightMotorIN1_GPIO      GPIOA
#define RightMotorIN1_Pin       GPIO_Pin_11

#define RightMotorIN2_RCC       RCC_APB2Periph_GPIOA
#define RightMotorIN2_GPIO      GPIOA
#define RightMotorIN2_Pin       GPIO_Pin_12

#define LeftSensor_RCC          RCC_APB2Periph_GPIOB
#define LeftSensor_GPIO         GPIOB
#define LeftSensor_Pin          GPIO_Pin_0

#define MiddleSensor_RCC        RCC_APB2Periph_GPIOB
#define MiddleSensor_GPIO       GPIOB
#define MiddleSensor_Pin        GPIO_Pin_1

#define RightSensor_RCC         RCC_APB2Periph_GPIOB
#define RightSensor_GPIO        GPIOB
#define RightSensor_Pin         GPIO_Pin_2

#define LeftThreshold           2000
#define MiddleThreshold         2000
#define RightThreshold          2000

void GPIO_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(LeftMotorEN_RCC | LeftMotorIN1_RCC | LeftMotorIN2_RCC | RightMotorEN_RCC | RightMotorIN1_RCC | RightMotorIN2_RCC, ENABLE);
    RCC_APB2PeriphClockCmd(LeftSensor_RCC | MiddleSensor_RCC | RightSensor_RCC, ENABLE);

    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;

    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Pin = LeftMotorEN_Pin;
    GPIO_Init(LeftMotorEN_GPIO, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Pin = LeftMotorIN1_Pin;
    GPIO_Init(LeftMotorIN1_GPIO, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Pin = LeftMotorIN2_Pin;
    GPIO_Init(LeftMotorIN2_GPIO, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Pin = RightMotorEN_Pin;
    GPIO_Init(RightMotorEN_GPIO, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Pin = RightMotorIN1_Pin;
    GPIO_Init(RightMotorIN1_GPIO, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Pin = RightMotorIN2_Pin;
    GPIO_Init(RightMotorIN2_GPIO, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    GPIO_InitStructure.GPIO_Pin = LeftSensor_Pin;
    GPIO_Init(LeftSensor_GPIO, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    GPIO_InitStructure.GPIO_Pin = MiddleSensor_Pin;
    GPIO_Init(MiddleSensor_GPIO, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    GPIO_InitStructure.GPIO_Pin = RightSensor_Pin;
    GPIO_Init(RightSensor_GPIO, &GPIO_InitStructure);
}

void Motor_Control(int LeftMotorDirection, int RightMotorDirection, int LeftMotorSpeed, int RightMotorSpeed)
{
    if (LeftMotorDirection == 1) {
        GPIO_SetBits(LeftMotorIN1_GPIO, LeftMotorIN1_Pin);
        GPIO_ResetBits(LeftMotorIN2_GPIO, LeftMotorIN2_Pin);
    } else if (LeftMotorDirection == -1) {
        GPIO_ResetBits(LeftMotorIN1_GPIO, LeftMotorIN1_Pin);
        GPIO_SetBits(LeftMotorIN2_GPIO, LeftMotorIN2_Pin);
    } else {
        GPIO_ResetBits(LeftMotorIN1_GPIO, LeftMotorIN1_Pin);
        GPIO_ResetBits(LeftMotorIN2_GPIO, LeftMotorIN2_Pin);
    }

    if (RightMotorDirection == 1) {
        GPIO_SetBits(RightMotorIN1_GPIO, RightMotorIN1_Pin);
        GPIO_ResetBits(RightMotorIN2_GPIO, RightMotorIN2_Pin);
    } else if (RightMotorDirection == -1) {
        GPIO_ResetBits(RightMotorIN1_GPIO, RightMotorIN1_Pin);
        GPIO_SetBits(RightMotorIN2_GPIO, RightMotorIN2_Pin);
    } else {
        GPIO_ResetBits(RightMotorIN1_GPIO, RightMotorIN1_Pin);
        GPIO_ResetBits(RightMotorIN2_GPIO, RightMotorIN2_Pin);
    }

    TIM_SetCompare1(TIM3, LeftMotorSpeed);
    TIM_SetCompare2(TIM3, RightMotorSpeed);

    GPIO_SetBits(LeftMotorEN_GPIO, LeftMotorEN_Pin);
    GPIO_SetBits(RightMotorEN_GPIO, RightMotorEN_Pin);
}

void Delay(unsigned int nCount)
{
    volatile unsigned int i;
    for(i=0; i<nCount; i++);
}

int main()
{
    GPIO_Configuration();

    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

    TIM_TimeBaseStructure.TIM_Period = 20000 - 1;
    TIM_TimeBaseStructure.TIM_Prescaler = (72 - 1);
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    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_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);

    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_OC2Init(TIM3, &TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);

    TIM_Cmd(TIM3, ENABLE);

    while (1) {
        if (GPIO_ReadInputDataBit(LeftSensor_GPIO, LeftSensor_Pin) > LeftThreshold) {
            Motor_Control(-1, 1, 1000, 1000);
        } else if (GPIO_ReadInputDataBit(MiddleSensor_GPIO, MiddleSensor_Pin) > MiddleThreshold) {
            Motor_Control(1, 1, 1000, 1000);
        } else if (GPIO_ReadInputDataBit(RightSensor_GPIO, RightSensor_Pin) > RightThreshold) {
            Motor_Control(1, -1, 1000, 1000);
        } else {
            Motor_Control(0, 0, 0, 0);
            Delay(10000);
        }
    }
}

这个代码是很基础的，需要根据你的具体需求进行修改。这个代码的主要思路是使用三个红外线传感器来检测小车是否偏离轨道，并根据检测结果来控制小车的运动方向和速度。同时，当小车遇到障碍物时，它会停下来。