基于stm32f407八字循迹小车代码（C语言写的很详细）

（main 函数）

#include "sys.h"

#include "delay.h"

#include "usart.h"

#include "led.h"

#include "pwm.h"

#include "chelun.h"

#include "chuangan.h"

int main(void)

{

chuangan_Init();

chelun_Init();

//NVIC_PriorityGroupConOg(NVIC_PriorityGroup_2);//ÉèÖÃϵͳÖжÏÓÅÏȼ¶·Ö×é

2

delay_init(168); //³õʼ»¯ÑÓʱº¯Êý

uart_init(115200);//³õʼ»¯´®¿Ú²¨ÌØÂÊΪ115200

TIM14_PWM_Init(500-1,84-1);

//84M/84=1MhzµÄ¼ÆÊýƵÂÊ,ÖØ×°ÔØÖµ500£¬ËùÒÔPWMƵÂÊΪ

while(1)

{

if(chuangan_1==0&&chuangan_2==1&&chuangan_3==0) //Ö±ÐÐ

{

if(chuangan_1==0&&chuangan_2==1&&chuangan_3==0)

{

delay_ms(10);

TIM_SetCompare1(TIM14,280);

//Ð޸ıȽÏÖµ£¬ÐÞ¸ÄÕ¼¿Õ±È

TIM_SetCompare1(TIM3,280);

//Ð޸ıȽÏÖµ£¬ÐÞ¸ÄÕ¼¿Õ±È

chelun_zuo1=1;

chelun_zuo2=0;

chelun_you1=1;

chelun_you2=0;

}

TIM_SetCompare1(TIM3,190);

//Ð޸ıȽÏÖµ£¬ÐÞ¸ÄÕ¼¿Õ±È

chelun_zuo1=1;

chelun_you1=1;

chelun_you2=0;

}

}

//Ð޸ıȽÏÖµ£¬ÐÞ¸ÄÕ¼¿Õ±È

TIM_SetCompare1(TIM3,230);

//Ð޸ıȽÏÖµ£¬ÐÞ¸ÄÕ¼¿Õ±È

chelun_zuo1=1;

chelun_zuo2=0;

chelun_you1=1;

chelun_you2=1;

}

}

if(chuangan_1==0&&chuangan_2==0&&chuangan_3==0)

{

if(chuangan_1==0&&chuangan_2==0&&chuangan_3==0)

{

delay_ms(10);

TIM_SetCompare1(TIM14,200);

{

delay_ms(10);

TIM_SetCompare1(TIM14,220);

delay_ms(10);

chelun_zuo1=1;

chelun_zuo2=0;

chelun_you2=0;

delay_ms(50);

break;

}*/

delay_ms(10);

TIM_SetCompare1(TIM3,200);

//Ð޸ıȽÏÖµ£¬ÐÞ¸ÄÕ¼¿Õ±È

chelun_zuo1=1;

chelun_zuo2=0;

chelun_you1=1;

chelun_you2=0;