基于stm32f103c8t6蓝牙遥控小车可测距避障程序 -

#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "timer.h"
#include "motor.h"
#include "sg90.h"
#include "HCSR.h"
#include "oled.h"
#include "beep.h"
#include "motorpwm.h"
#include "TCRT.h"
#define motor1_PWM TIM1->CCR1
#define motor3_PWM TIM1->CCR3
#define motor2_PWM TIM1->CCR2
#define motor4_PWM TIM1->CCR4
// motor11=1; PA7
// motor12=0; PA6
//
// motor21=1; PB7
// motor21=0; PB6
extern u8 res;
int main(void)
{
int len;
delay_init(); //延时函数初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
uart_init(9600); //串口初始化为9600
My_USART2_Init();
OLED_Init();
OLED_Clear();
motor_pwm_init();
Motor_Init();
TIM3_PWM_Init(199,7199); //不分频。T为20ms，这样的配置就是为了让输出的PWM信号达到舵机要求的20ms周期。
SG90_pwm_init();
TCRT_config(); //循迹模块初始化
CH_SR04_Init();
motor1_PWM=0;motor3_PWM =0;motor21=0; motor22=0;
// motor1_PWM=10;motor2_PWM=10;motor3_PWM =10;motor4_PWM =10;
beep_Init();
while(1)
{
len =Senor_Using();
// printf("距离为:%dcm\n",length);
OLED_ShowCHinese(0,0,0);//前
OLED_ShowCHinese(18,0,1);//方
OLED_ShowCHinese(36,0,2);//距
OLED_ShowCHinese(54,0,3);//离
OLED_ShowCHinese(72,0,4);//为
OLED_Float(3,3,len,1);
delay_ms(20);
// if(res=='1'){motor11=1; motor12=0;motor21=1; motor22=0;TIM_SetCompare2(TIM3,175);}//前进右转90
if(res=='1')//避障
{
float length_res[5]; //用来存放测距结果
len =Senor_Using();
// printf("距离为:%dcm\n",length);
OLED_ShowCHinese(0,0,0);//前
OLED_ShowCHinese(18,0,1);//方
OLED_ShowCHinese(36,0,2);//距
OLED_ShowCHinese(54,0,3);//离
OLED_ShowCHinese(72,0,4);//为
OLED_Float(3,3,len,1);
delay_ms(20);
SG90_Front; //舵机摆正
delay_ms(100);
length_res[0] =Senor_Using(); //测前方距离放在数组里
delay_ms(100);
if(length_res[0]>40.00) //如果前方距离大于30cm 前进
{
motor1_PWM=70;motor3_PWM =70; motor21=0; motor22=0;
SG90_Front;
TIM_SetCompare2(TIM3,185); //方向回中
}
if(length_res[0]<40.00) //如果前方距离小于30厘米停车测左右距离
{
beep=1;
motor1_PWM=0;motor3_PWM =0;motor21=0; motor22=0;
SG90_Left_45; //舵机左转45度测距
delay_ms(700);beep=0;
length_res[1] =Senor_Using(); //把测量结果放进数组
SG90_Right_45; //舵机右转45度测距
delay_ms(700);
length_res[4] =Senor_Using(); //把测量结果放进数组
SG90_Front; //舵机摆正
delay_ms(100);
if(length_res[1]>length_res[4]) //如果左边的距离大于右边的距离
{
do //舵机摆正
{
SG90_Front;
delay_ms(10);
length_res[0] =Senor_Using(); //重复测前方的距离同时左转
delay_ms(10);
TIM_SetCompare2(TIM3,195);
motor1_PWM=75;motor3_PWM =75; motor21=0; motor22=0;
}
while(length_res[0]<40.00); //一直转到前方距离大于30cm
}
if(length_res[1]<length_res[4]) //如果右边的距离大于左边的距离
{
do
{
SG90_Front;
delay_ms(10);
length_res[0] =Senor_Using();
delay_ms(10);
TIM_SetCompare2(TIM3,175);
motor1_PWM=75;motor3_PWM =75; motor21=0; motor22=0;
}
while(length_res[0]<40.00); //一直转到前方距离大于30cm
}
}
}
if(res=='2')
{
if(Senor_Using()<30)
{ beep=1;
delay_ms(500);
beep=0;motor1_PWM=0;motor3_PWM =0;motor21=0; motor22=0;delay_ms(300);}motor1_PWM=75;motor3_PWM =65;motor21=0; motor22=0; TIM_SetCompare2(TIM3,180);}//前进右转45
if(res=='3')
{
if(Senor_Using()<30)
{beep=1;
delay_ms(500);
beep=0;motor1_PWM=0;motor3_PWM =0;motor21=0; motor22=0;delay_ms(600);
}
motor1_PWM=75;motor3_PWM =75;motor21=0; motor22=0; TIM_SetCompare2(TIM3,185);}//直行
if(res=='4')
{
if(Senor_Using()<30)
{beep=1;
delay_ms(500);
beep=0;motor1_PWM=0;motor3_PWM =0;motor21=0; motor22=0;delay_ms(300);}motor1_PWM=65;motor3_PWM =75;motor21=0; motor22=0; TIM_SetCompare2(TIM3,190);}//前进左转45
// if(res=='5'){motor11=1; motor12=0;motor21=1; motor22=0;TIM_SetCompare2(TIM3,195);}//前进左转90
if(res=='0'){TIM_SetCompare2(TIM3,185);motor1_PWM=0;motor3_PWM =0;;motor21=0; motor22=0;}
if(res=='6'){motor1_PWM=30;motor3_PWM =30;motor21=1; motor22=1;TIM_SetCompare2(TIM3,185);}//后退
if(res=='7'){motor1_PWM=30;motor3_PWM =30;motor21=1; motor22=1;TIM_SetCompare2(TIM3,180);}//后退右转45
if(res=='8'){motor1_PWM=30;motor3_PWM =30;motor21=1; motor22=1;TIM_SetCompare2(TIM3,190);}//后退左转45
if(res=='5')
{
Read_TCRT_Date(); //读循迹线值
TIM_SetCompare2(TIM3,185); //回中
if(L==1&&M==1&&R==1)//11
{
motor1_PWM=75;motor3_PWM =75;motor21=0; motor22=0; //如果都没有读取到黑线，直走
TIM_SetCompare2(TIM3,0);
delay_ms(10);
}
if(L==1&&M==0&&R==1)//101
{
motor1_PWM=75;motor3_PWM =75;motor21=0; motor22=0; //如果中间一个读取到黑线，直走
TIM_SetCompare2(TIM3,185); //回中
delay_ms(10);
}
if(L==1&&M==1&&R==0)//110
{
motor1_PWM=75;motor3_PWM =75;motor21=0; motor22=0; //直走
TIM_SetCompare2(TIM3,179); //如果右边读取到黑线，右转
delay_ms(10);
}
if(L==0&&M==1&&R==1)//011
{
motor1_PWM=75;motor3_PWM =75;motor21=0; motor22=0; //直走
TIM_SetCompare2(TIM3,191); //如果左边读取到黑线，左转
delay_ms(10);
}
if(L==0&&M==0&&R==0)//000
{
motor1_PWM=75;motor3_PWM =75;motor21=0; motor22=0;
TIM_SetCompare2(TIM3,185);
}
}
}
//在周期20ms的PWM信号中，不同的脉宽对应舵机不同的转动角度，在0.5ms-2.5ms间有效
// TIM_SetCompare2(TIM4,175);//总共计数200，前面设置的模式是计数在比较值之后才是高电平
//也就是高电平的时间是[(200-175)/200]*20ms=2.5ms,即转过360度，180度舵机依次类推
}

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