PWM调速+超声波控制车距的小车stm32源码 -

#include "stm32f10x.h"
#include "bsp_usart1.h"
#include "bsp_length.h"
#include "bsp_tick.h"
# include "motor.h"
# include "pwm_motor.h"
#define CLI() __set_PRIMASK(1) /* 关闭总中断 */
#define SEI() __set_PRIMASK(0) /*开总中断*/
void Delay(unsigned short int time); //粗略的延时函数
float ChangeDistance(unsigned int cout1); //时间转为距离函数
//ECHO PA4
//TRIG PA5
int main(void)
{
unsigned int count=0; // 计数
float distance=0; // 距离
/* USART1 config 115200 8-N-1 */
USART1_Config();
Distance_Config(); //测距模块对应的引脚初始化
CLI() ;//关闭总中断
SEI(); //开总中断
Tim3_Config(); //定时器的初始化
Motor_Config();
TIM_Mode_Config(); //PWM 调速
GPIO_ResetBits(GPIOA,GPIO_Pin_5); //先拉低电平
while(1)
{
printf(" 超声波初始化完成！！ \r \n");
printf(" 测距开始 \r \n");
GPIO_SetBits(GPIOA,GPIO_Pin_5); //拉高电平
Delay(30); //延时20个微秒
// Delay(20);
// Delay(20);
GPIO_ResetBits(GPIOA,GPIO_Pin_5); //拉低电平
TIM3->CNT=0; //TIM3的计数器清0
while(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_4) == 0); //等待ECHO的高电平
TIM_Cmd(TIM3,ENABLE); //运行TIM3进行计时
while((GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_4) == 1) && (TIM3->CNT < TIM3->ARR-10))
{
TIM_Cmd(TIM3,DISABLE);
count++;
}
printf("count=%d",count);
distance=ChangeDistance(count);
printf(" 当前距离为：%f\n",distance);
Delay(20000);
Delay(20000);
if(distance>10)
Go_forward();
else
Go_back();
while(1);
}
}
void Delay(unsigned short int time) //粗略的延时函数
{
unsigned char i=0;
while(time--)
{
i=10;
while(i--);
}
}
float ChangeDistance(unsigned int cout1)
{
float distance=0;
printf("cou1=%d\n",cout1);
distance=cout1/58.0;
return distance;
}
/*********************************************END OF FILE**********************/

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