用stm32做的循迹小车程序

ID:311215 · 发表于 2018-12-28 14:28

stm32mini版做的循迹小车，读电平的口分别是pa5，pa6，pa7.请论坛各位兄弟多多指教！如果有疑问也可以加QQ：2910202136.感谢！

单片机源程序如下:

#include "stm32f10x.h"
#include "led.h"
#include "light.h"
#include "pwm.h"
#include "delay.h"
#include "motor.h"
int main(void)
{
LED_Init(); //led初始化
LIGHT_Init(); //巡线模块初始化
TIM3_PWM_Init(799,0);
delay_init();
while(1)
{
if(readfrontleft1==WHITE_AREA&&readfrontleft2==WHITE_AREA&&readfrontleft3==WHITE_AREA)//三路白1
{
CarGo();
delay_ms(100);
CarStop();
}
else if(readfrontleft1==BLACK_AREA&&readfrontleft2==WHITE_AREA&&readfrontleft3==BLACK_AREA)//中间白，左右黑2
{
CarGo();
delay_ms(100);
CarStop();
}
else if(readfrontleft2==WHITE_AREA&&readfrontleft1==WHITE_AREA&&readfrontleft3==BLACK_AREA)//左路中路白右路黑3
{
CarRight();
delay_ms(100);
CarStop();
}
else if(readfrontleft1==WHITE_AREA&&readfrontleft2==BLACK_AREA&&readfrontleft3==BLACK_AREA)//左路白右路中路黑4
{
CarRight();
delay_ms(100);
CarStop();
}
else if(readfrontleft1==BLACK_AREA&&readfrontleft2==WHITE_AREA&&readfrontleft3==WHITE_AREA)//左路黑中右白
{
CarLeft();
delay_ms(100);
CarStop();
}
else if(readfrontleft1==BLACK_AREA&&readfrontleft2==BLACK_AREA&&readfrontleft3==WHITE_AREA)//左路中路黑右路白
{
CarLeft();
delay_ms(100);
CarStop();
}
else if(readfrontleft1==BLACK_AREA&&readfrontleft2==BLACK_AREA&&readfrontleft3==WHITE_AREA)//全黑
{
CarStop();
}
}
}