//超声波配置；注意：如果控制想要更精确点，可以多加几个HC-SP04。
- #include "stm32f10x.h"
- #include "./usart/bsp_usart.h"
- #include "./lcd/bsp_ili9341_lcd.h"
- #include "./flash/bsp_spi_flash.h"
- #include "interface.h"
- #include "UltrasonicCtrol.h"
- #include "pwm.h"
- unsigned char tick_5ms = 0;//5ms计数器，作为主函数的基本周期
- char dispBuff[100];
- u16 led0pwmval=400; //左前轮
- u16 led1pwmval=899; //左后轮
- u16 led2pwmval=400; //右前轮
- u16 led3pwmval=899; //右后轮
-
- void QianJin(void)
- {
-
- led0pwmval=400; //左前轮
- TIM_SetCompare1(TIM3,led0pwmval);
- led1pwmval=899; //左后轮
- TIM_SetCompare2(TIM3,led1pwmval);
- led2pwmval=400; //右前轮
- TIM_SetCompare3(TIM3,led2pwmval);
- led3pwmval=899; //右后轮
- TIM_SetCompare4(TIM3,led3pwmval);
-
- }
- void YouZhuan(void)
- {
-
- led0pwmval=400; //左前轮
- TIM_SetCompare1(TIM3,led0pwmval);
- led1pwmval=899; //左后轮
- TIM_SetCompare2(TIM3,led1pwmval);
- led2pwmval=800; //右前轮
- TIM_SetCompare3(TIM3,led2pwmval);
- led3pwmval=899; //右后轮
- TIM_SetCompare4(TIM3,led3pwmval);
- }
- int main(void)
- {
- delay_init();
- GPIOCLKInit();
- UltraSoundInit();
-
- //LCD 初始化
- ILI9341_Init ();
- /* USART config */
- USART_Config();
- TIM3_PWM_Init(899,0);
-
- ILI9341_GramScan ( 6 );
- ILI9341_Clear(0,0,LCD_X_LENGTH,LCD_Y_LENGTH); /* 清屏，显示全黑 */
-
- while ( 1 )
- {
- tick_5ms++;
- if(tick_5ms >= 5)
- {
- GetDistanceDelay();
- tick_5ms = 0;
- }
- // /*使用c标准库把变量转化成字符串*/
- sprintf(dispBuff,"juli : %.2d ",distance_cm);
- ILI9341_DispString_EN( 5, 40, dispBuff );
- if(distance_cm > 25)
- {
- QianJin();//前进
- Delayms(500);
- }
- else
- {
- YouZhuan();
- Delayms(200);
- }
- }
- }
- /* ------------------------------------------end of file---------------------------------------- */
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超声波壁障小车.rar
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