XB-4WD-STM32智能小车超声波避障实验程序和教学视频教程 -

/*************************** XB-4WD-STM32智能小车参考程序 *******************************
* 实验名：XB-4WD-STM32智能小车超声波避障实验
* 连接方式：请参考interface.h文件
****************************************************************************************/
#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;
unsigned char duoji_count=0;
unsigned char zhuanjiao = 11;
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
}
void DuojiMid()
{
zhuanjiao = 11;
Delayms(150);//延时1s
}
void DuojiRight()
{
zhuanjiao = 5;
Delayms(150);//延时1s
}
void DuojiLeft()
{
zhuanjiao = 18;
Delayms(150);//延时1s
}
///获取三个方向的距离,进来前舵机方向为向前
void GetAllDistance(unsigned int *dis_left,unsigned int *dis_right,unsigned int *dis_direct)
{
CarStop();
GetDistanceDelay();
*dis_direct = distance_cm;
DuojiRight();
Delayms(100);
GetDistanceDelay();//获取右边距离
*dis_right = distance_cm;
DuojiMid();
DuojiLeft();
Delayms(100);
GetDistanceDelay();//获取左边距离
*dis_left = distance_cm;
DuojiMid();//归位
}
void BarrierProc()
{
if(distance_cm < 30)//前方有障碍物
{
unsigned int dis_left;//左边距离
unsigned int dis_right;//右边距离
unsigned int dis_direct;//右边距离
if(distance_cm < 15)
{
CarBack();
Delayms(400);
}
while(1)
{
GetAllDistance(&dis_left,&dis_right,&dis_direct);
if(dis_direct < 10)
{
CarBack();
Delayms(300);
continue;
}
else if((dis_left < 10) || (dis_right < 10))
{
CarBack();
Delayms(300);
continue;
}
else if(dis_direct >= dis_left && dis_direct >= dis_right)//前方距离最远
{
CarGo();
Delayms(600);
return;
}
else if(dis_left <= dis_right)//右转
{
CarRight();
Delayms(500);
}
else if(dis_right < dis_left)
{
CarLeft();
Delayms(500);
}
}
}
else
{
CarGo();
}
}
int main(void)
{
delay_init();
LCD1602Init();
//IRCtrolInit();
TIM2_Init();
MotorInit();
UltraSoundInit();
InitIO();
//RedRayInit();
ServoInit();
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
}
Distance();//计算距离
BarrierProc();
}
}
}

复制代码