帮我生成一篇智能小车的stm32程序，要求使用舵机，红外传感器和超声波传感器

好的，以下是一个简单的智能小车的STM32程序，使用了舵机、红外传感器和超声波传感器：

#include "stm32f10x.h"

#define TRIG_PIN GPIO_Pin_0
#define ECHO_PIN GPIO_Pin_1
#define IR_PIN GPIO_Pin_2

void delay_ms(int ms) {
    for(int i = 0; i < ms; i++) {
        for(int j = 0; j < 2000; j++);
    }
}

void init_gpio() {
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
    
    // Configure trig pin as output
    GPIO_InitTypeDef GPIO_InitStructure;
    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);
    
    // Configure echo pin as input
    GPIO_InitStructure.GPIO_Pin = ECHO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    
    // Configure IR pin as input
    GPIO_InitStructure.GPIO_Pin = IR_PIN;
    GPIO_Init(GPIOB, &GPIO_InitStructure);
}

void init_pwm() {
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
    
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_TimeBaseStructure.TIM_Period = 20000 - 1;
    TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
    
    TIM_OCInitTypeDef TIM_OCInitStructure;
    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(TIM1, &TIM_OCInitStructure);
    TIM_OC2Init(TIM1, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
    TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
    TIM_Cmd(TIM1, ENABLE);
}

void set_pwm(int left, int right) {
    TIM_SetCompare1(TIM1, left);
    TIM_SetCompare2(TIM1, right);
}

int get_distance() {
    GPIO_SetBits(GPIOA, TRIG_PIN);
    delay_ms(10);
    GPIO_ResetBits(GPIOA, TRIG_PIN);
    
    int timeout = 100000;
    while(GPIO_ReadInputDataBit(GPIOA, ECHO_PIN) == RESET && timeout--);
    if(timeout <= 0) return -1;
    int start = TIM_GetCounter(TIM2);
    
    timeout = 100000;
    while(GPIO_ReadInputDataBit(GPIOA, ECHO_PIN) == SET && timeout--);
    if(timeout <= 0) return -1;
    int end = TIM_GetCounter(TIM2);
    
    return (end - start) * 0.017;
}

int get_ir() {
    return GPIO_ReadInputDataBit(GPIOB, IR_PIN);
}

int main() {
    init_gpio();
    init_pwm();
    
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
    TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
    TIM_Cmd(TIM2, ENABLE);
    
    while(1) {
        int distance = get_distance();
        int ir = get_ir();
        
        if(distance > 0 && distance < 10) {
            set_pwm(0, 0);
        } else if(ir == 0) {
            set_pwm(1000, 1000);
        } else {
            set_pwm(2000, 2000);
        }
        
        delay_ms(50);
    }
}

这个程序使用了定时器来测量超声波传感器返回的距离，并且使用红外传感器来检测障碍物。如果超声波传感器检测到距离小于10厘米，程序会停止左右轮的旋转；如果红外传感器检测到有障碍物，则程序会向前行驶；否则，程序会加速向前行驶。您可以根据需要更改PWM的值来调整小车的速度和方向。