电赛快来了给大家来个去年的小车STM32版

ID:927279 · 发表于 2021-8-1 21:48

本帖最后由 garrettzls 于 2021-8-2 09:28 编辑

大家来交流一下电赛啊

PN编码器旋钮：
SW -> PA10
DT -> PA11
CLK -> PA12

编码电机：
左轮：
IN1 -> PB10
IN2 -> PB8 TIM4_CH3
A -> PA2
B ->
右轮：
IN3 -> PB11
IN4 -> PB9 TIM3_CH4
A -> PA3
B ->

OLED:
CS -> PA6
DC -> PA7
RES -> PA5
D1 -> PB0
D0 -> PB1
VCC ->
GND ->
舵机：
IN -> PA0

红外传感器：
IN1 -> PA4
IN2 -> PA5
IN3 -> PA6
IN4 -> PA7

板载LED：
LED -> PB12

单片机源程序如下:

/* Includes ------------------------------------------------------------------*/
#include "stm32f10x.h"
#include "infrared_sensor.h"
#include "encode_motor.h"
#include "steering_motor.h"
#include "bluetooth.h"
#include "usart.h"
#include "PID.h"
#include "timer.h"
#include "delay.h"
#include "oled.h"
#include "led.h"
#include <string.h>
#include "encodeing.h"
//OLED刷新显示
void OLED_update()
{
OLED_ShowString(0,0,(u8 *)"V1: V2: ",16);
OLED_ShowString(0,16,(u8 *)"PIDOUT: ",16);
OLED_ShowString(0,32,(u8 *)"TIME: Spd: ",16);
if(run_flag == 1)
OLED_ShowString(0,48,(u8 *)"RUNING... ",16);
else
OLED_ShowString(0,48,(u8 *)"STOP... ",16);
OLED_ShowNum(26,0,(int)V_left,4,12);
OLED_ShowNum(82,0,(int)V_right,4,12);
OLED_ShowNum(58,16,(int)PID_OUT,4,12);
OLED_ShowNum(42,32,(int)time,2,12);
OLED_ShowNum(94,32,(int)speed,3,12);
OLED_Refresh_Gram();//更新显示
}
//设置小车前进的固定速度
void set_PID_speed(int v1,int v2)
{
Set_Temp = v1;
Set_Temp1 = v2;
}
//主函数
int main(void)
{
u8 state;
int ang;
//设置APP偏移
//SCB->VTOR = FLASH_BASE | 0x8000; /* Vector Table Relocation in Internal FLASH. */
uart_init(9600);//蓝牙串口初始化
delay_init(); //延时初始化
SteerinMotor_Init(); //舵机初始化
EncodeMotor_Init();//编码电机初始化
OLED_Init();//oled初始化
LED_Init();//led初始化
TIM1_Int_Init(100,7200);//定时器初始化10ms
Encodeing_Init();//旋钮编码器初始化
//测试
printf(" this is Ramp patorl trolley by HUAZUOCHEN! ^_^ \r\n");
while (1) {
OLED_update();//更新OLED显示
encodeing_scan();//编码器扫描
//获取红外线传感器传回的数据
state = Get_Infrared_Sensor();
ang = 0;
switch (state)//循迹转弯设置
{
case 0x00:ang = 0;
break;
case 0x01:ang = -55;
break;
case 0x03:ang = -35;
break;
case 0x02:ang = -10;
break;
case 0x06:set_steerMotor_ang(0);//设置舵机角度 0
break;
case 0x04:ang = 10;
break;
case 0x0c:ang = 35;
break;
case 0x08:ang = 55;
break;
case 0x0f: //识别到杂乱信号角度设置为0
case 0x09:
case 0x05:
case 0x0a:
case 0x0e:
case 0x0b:
run_flag = 0;//停止
break;
default:ang = 0;
break;
}
if(ang != 0)
{
set_steerMotor_ang(ang);//设置舵机角度
delay_ms(100);
}
state = 0;
}
}