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#include "stm32f10x.h"
#include "interface.h"
#include "LCD1602.h"
#include "IRCtrol.h"
#include "motor.h"
#include "UltrasonicCtrol.h"
//全局变量定义
unsigned int speed_count=0;//占空比计数器 50次一周期
char front_left_speed_duty=SPEED_DUTY;
char front_right_speed_duty=SPEED_DUTY;
char behind_left_speed_duty=SPEED_DUTY;
char behind_right_speed_duty=SPEED_DUTY;
unsigned char tick_5ms = 0;//5ms计数器，作为主函数的基本周期
unsigned char tick_1ms = 0;//1ms计数器，作为电机的基本计数器
unsigned char tick_200ms = 0;//刷新显示
char ctrl_comm = COMM_STOP;//控制指令
char ctrl_comm_last = COMM_STOP;//上一次的指令
unsigned char continue_time=0;
void InitIO()
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOE , ENABLE);//使能LED使用的GPIO时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOE , &GPIO_InitStructure);//将使用LED灯相关的GPIO初始化
GPIO_SetBits(GPIOE , GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10);//关闭所有的ＬＥＤ指示灯
}
//障碍物查询和处理,一旦出现障碍物，禁止直行
void BarrierProc()
{
if(VOID_L_IO == BARRIER_N && VOID_R_IO == BARRIER_Y)//右转
{
CarRight();
Delayms(30);
return;
}
else if(VOID_L_IO == BARRIER_Y && VOID_R_IO == BARRIER_N)//左转
{
CarLeft();
Delayms(30);
return;
}
if((distance_cm >= 5 && distance_cm <= 7) || distance_cm > 50) //
{
CarStop();//防震荡
return;
}
if(VOID_L_IO == VOID_R_IO)
{
if(distance_cm < 5) CarBack();
if(distance_cm > 7) CarGo();
}
}
int main(void)
{
delay_init();
LCD1602Init();
IRCtrolInit();
TIM2_Init();
MotorInit();
ServoInit();
UltraSoundInit();
InitIO();
RedRayInit();
while(1)
{
if(tick_5ms >= 5)
{
tick_5ms = 0;
tick_200ms++;
if(tick_200ms >= 40)
{
tick_200ms = 0;
LEDToggle(GPIO_Pin_8);
LCD1602WriteDistance(distance_cm);//更新距离
}
continue_time--;//200ms 无接收指令就停车
if(continue_time == 0)
{
continue_time = 1;
CarStop();
}
//do something
Distance();//计算距离
BarrierProc();
if(ctrl_comm_last != ctrl_comm)//接收到红外信号
{
ctrl_comm_last = ctrl_comm;
switch(ctrl_comm)
{
case COMM_UP: CarGo();break;
case COMM_DOWN: CarBack();break;
case COMM_LEFT: CarLeft();break;
case COMM_RIGHT: CarRight();break;
case COMM_STOP: CarStop();break;
default : break;
}
LCD1602WriteCommand(ctrl_comm);
}
}
}
}
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