基于STM32的自动避障小车程序 -

/*********************************航太电子*******************************
* 实验名：超声波舵机自动避障实验
* 实验说明：将超声波模块放在舵机旋转轴上，通过转动舵机，来获取前方，左边以及右边的障碍物距离
* 实验平台：航太ARM单片机开发板
* 连接方式：请参考interface.h文件
* 注意：舵机旋转角度建议不要使用0°和180°，可以稍微往中间一点，比如选取20°和160 °，这样舵机旋转更精确
****************************************************************************************/
#include "stm32f10x.h"
#include "interface.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;
//循迹，通过判断三个光电对管的状态来控制小车运动
/*
void SearchRun(void)
{
//三路都检测到
if(SEARCH_M_IO == BLACK_AREA && SEARCH_L_IO == BLACK_AREA && SEARCH_R_IO == BLACK_AREA)
{
ctrl_comm = COMM_UP;
return;
}
if(SEARCH_R_IO == BLACK_AREA)//右
{
ctrl_comm = COMM_RIGHT;
}
else if(SEARCH_L_IO == BLACK_AREA)//左
{
ctrl_comm = COMM_LEFT;
}
else if(SEARCH_M_IO == BLACK_AREA)//中
{
ctrl_comm = COMM_UP;
}
}
*/
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 = 13;
Delayms(150);//延时1s
}
void DuojiRight()
{
zhuanjiao = 7;
Delayms(150);//延时1s
}
void DuojiLeft()
{
zhuanjiao = 19;
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 SearchRun(void)
{
//三路都检测到
if(SEARCH_M_IO == BLACK_AREA && SEARCH_L_IO == BLACK_AREA && SEARCH_R_IO == BLACK_AREA)
{
ctrl_comm = COMM_UP;
return;
}
if(SEARCH_R_IO == BLACK_AREA)//右
{
ctrl_comm = COMM_RIGHT;
}
else if(SEARCH_L_IO == BLACK_AREA)//左
{
ctrl_comm = COMM_LEFT;
}
else if(SEARCH_M_IO == BLACK_AREA)//中
{
ctrl_comm = COMM_UP;
}
}
void BarrierProc()
{
//if(distance_cm < 10)//前方有障碍物
if(distance_cm > 9)//前方没有障碍物
{
if(ctrl_comm_last != ctrl_comm)//指令发生变化
{
ctrl_comm_last = ctrl_comm;
switch(ctrl_comm)
{
case COMM_UP: CarGo();break;
case COMM_DOWN: CarBack();break;
case COMM_LEFT: CarLeft();break;
case COMM_RIGHT: CarRight();break;
case COMM_STOP: CarStop();break;
default : break;
}
}
}
else
{
unsigned int dis_left;//左边距离
unsigned int dis_right;//右边距离
unsigned int dis_direct;//中间距离
/*if(distance_cm < 8)
{
CarBack();
Delayms(400);
}
*/
//while(1)
//{
GetAllDistance(&dis_left,&dis_right,&dis_direct);
if(dis_direct < 10)
{
CarBack();
Delayms(80);
ctrl_comm = COMM_DOWN;
//continue;
}
else if(dis_left >10) //左转
{
CarLeft();
ctrl_comm = COMM_UP;
Delayms(400);
CarGo();
Delayms(200);
/*CarRight();
Delayms(400);
CarGo();
Delayms(200);*/
ctrl_comm = COMM_UP;
}
else if(dis_right > 10) //右转
{
CarRight();
Delayms(400);
CarGo();
Delayms(200);
CarLeft();
Delayms(400);
CarGo();
Delayms(200);
ctrl_comm = COMM_UP;
//continue;
}
/* else if(dis_direct >= dis_left && dis_direct >= dis_right)//前方距离最远
{
CarGo();
Delayms(600);
return;
}
*/
else
{
/*CarLeft();
ctrl_comm = COMM_UP;
Delayms(400);
CarGo();
Delayms(200);*/
CarGo();
Delayms(100);
ctrl_comm = COMM_UP;
}
}
}
int main(void)
{
delay_init();
TIM2_Init();
MotorInit();
UltraSoundInit();
InitIO();
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
}
*/
SearchRun();
Distance();//计算距离
BarrierProc();
/*
if(ctrl_comm_last != ctrl_comm)//指令发生变化
{
ctrl_comm_last = ctrl_comm;
switch(ctrl_comm)
{
case COMM_UP: CarGo();break;
case COMM_DOWN: CarBack();break;
case COMM_LEFT: CarLeft();break;
case COMM_RIGHT: CarRight();break;
case COMM_STOP: CarStop();break;
default : break;
}
}
*/
}
}

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