STM32颜色识别循迹代码 STM32四驱车运动库函数版本 -

/**
* @par Copyright (C): 2010-2019, Shenzhen Yahboom Tech
* @file main.c
* @author liusen
* @version V1.0
* @date 2017.07.17
* @brief 主函数
* @details
* @par History
*
* version: liusen_20170717
*/
//本实验对环境的要求较高,需要用户自行调整循迹模块的灵敏度
//灰度传感器在不同的光照条件下对不同的颜色有不同的数值
#include "stm32f10x.h"
#include "app_motor.h"
#include "app_ultrasonic.h"
#include "bsp.h"
#include "sys.h"
#include "delay.h"
#include "app_buzzer.h"
#include "bsp_linewalking.h"
#include "bsp_colorful.h"
#define LOW (0)
#define HIGH (1)
//第二位 1:左90 ; 2: 右90; 3: 180度掉头 4:直行
//这里可以自定义路径规划, 小车放置在起始位置深圳, 根据下一个十字或者丁字路口来写如上行注释来左转、右转、直行、掉头。
char mapLocation[38][2] = {
{0, 2}, {1, 1}, {2, 2}, {3, 3},
{4, 2}, {5, 4}, {6, 3},
{7, 2}, {8, 2}, {9, 2}, {10, 3},
{11, 4}, {12, 4}, {13, 3},
{14, 2}, {15, 1}, {16, 1}, {17, 3},
{18, 2}, {19, 1}, {20, 3},
{21, 1}, {22, 1}, {23, 1}, {24, 2}, {25, 3},
{26, 2}, {27, 2}, {28, 3},
{29, 2}, {30, 2}, {31, 3},
{32, 2}, {33, 1}, {34, 3},
{35, 1}, {36, 2}, {37, 3}
};
int position = 0; //位置定义
/**
* Function Color_Dis
* @author liusen
* @date 2017.08.15
* @brief 颜色设置根据实际情况采集数据显示
* @param[in] v_ad : 采集颜色AD
* @param[out] void
* @retval void
* @par History 无
*/
void Color_Dis(int v_ad)
{
int Color = v_ad;
if (Color >= 370 && Color <= 410)
{
bsp_Colorful_RGB_PWM(0, 0, 255);
}
else if (Color >= 300 && Color <= 320)
{
bsp_Colorful_RGB_PWM(0, 255, 0);
}
else if (Color >= 345 && Color <= 365)
{
bsp_Colorful_RGB_PWM(255, 0, 0);
}
else if (Color >= 330 && Color < 345)
{
bsp_Colorful_RGB_PWM(255, 0, 255);
}
else if (Color >= 270 && Color <= 290)
{
bsp_Colorful_RGB_PWM(0, 255, 255);
}
else if (Color >= 250 && Color < 270)
{
bsp_Colorful_RGB_PWM(255, 255, 0);
}
else
{
bsp_Colorful_RGB_PWM(0, 0, 0);
}
}
int main(void)
{
int iGs = 0;
int TrackSensorLeftValue1 = 1, TrackSensorLeftValue2 = 1, TrackSensorRightValue1 = 1, TrackSensorRightValue2 = 1;
/*外设初始化*/
bsp_init();
/*按键启动*/
while(bsp_GetKEY());
Buzzer_GPIO_Init();
while (1)
{
/*下面两行主要是测试当前环境光不同颜色的AD值，方便修改上面Color_Dis函数的范围值*/
//iGs = Get_GS_Value();
//printf("Color:%d\r\n", iGs);
bsp_GetLineWalking(&TrackSensorLeftValue1, &TrackSensorLeftValue2, &TrackSensorRightValue1, &TrackSensorRightValue2);
if ( ((TrackSensorLeftValue1 == LOW || TrackSensorLeftValue2 == LOW)
&& TrackSensorRightValue2 == LOW) || ( TrackSensorLeftValue1 == LOW
&& (TrackSensorRightValue1 == LOW || TrackSensorRightValue2 == LOW)))
{
Car_Run(3400);
delay_ms(60);
Car_Stop();
delay_ms(200);
switch (mapLocation[position][1])
{
case 0: Car_Stop(); break;
case 1: //左转90,这里所说的左转90度其实是会让小车转过一定的角度,然后让下面的while(1)去判断
//当中间的两路检测到时会停止转动,所以会有一个转动90度的效果.
{
/*延迟旋转转过丁字路口黑线解决探头开始就在黑线上判断*/
Car_SpinLeft(4300, 4300);
delay_ms(200);
while (1)
{
Car_SpinLeft(4300, 4300);
bsp_GetLineWalking(&TrackSensorLeftValue1, &TrackSensorLeftValue2, &TrackSensorRightValue1, &TrackSensorRightValue2);
if (TrackSensorLeftValue2 == LOW || TrackSensorRightValue1 == LOW)
{
Car_Stop();
break;
}
}
} break;
case 2://右转90
{
/*延迟旋转转过丁字路口黑线解决探头开始就在黑线上判断*/
Car_SpinRight(4300, 4300);
delay_ms(200);
while (1)
{
Car_SpinRight(4300, 4300);
bsp_GetLineWalking(&TrackSensorLeftValue1, &TrackSensorLeftValue2, &TrackSensorRightValue1, &TrackSensorRightValue2);
if (TrackSensorLeftValue2 == LOW || TrackSensorRightValue1 == LOW)
{
Car_Stop();
break;
}
}
} break;
case 3://左旋180掉头
{
Car_Stop();
delay_ms(200);
BeepOnOffMode();
iGs = Get_GS_Value();
//printf("Color:%d\r\n", iGs); //这里可以打开调试数据
Color_Dis(iGs);
if (position == 37) //走完地图直接停止
{
ModeBEEP(3);
BeepOnOffMode();
position = 0;
while(1);
}
Car_SpinLeft(4300, 4300);
//下面的延时相比上面的而言因为赛道的颜色区域前有一段黑线,延时长就是为了略过这条黑线的检测
delay_ms(450);
while (1)
{
Car_SpinLeft(4300, 4300);
bsp_GetLineWalking(&TrackSensorLeftValue1, &TrackSensorLeftValue2, &TrackSensorRightValue1, &TrackSensorRightValue2);
if (TrackSensorLeftValue2 == LOW || TrackSensorRightValue1 == LOW)
{
Car_Stop();
break;
}
}
} break;
case 4: Car_Run(5000); delay_ms(50); break;//直行
}
position++;
}
// 0 X X X
//最左边检测到
else if ( TrackSensorLeftValue1 == LOW)
{
Car_SpinLeft(3400, 3400);
}
// X X X 0
//最右边检测到
else if ( TrackSensorRightValue2 == LOW )
{
Car_SpinRight(3400, 3400);
}
//四路循迹引脚电平状态
// X 0 1 X
//处理左小弯
else if ( TrackSensorLeftValue2 == LOW && TrackSensorRightValue1 == HIGH)
{
Car_Left(3400);
}
//四路循迹引脚电平状态
// X 1 0 X
//处理右小弯
else if (TrackSensorLeftValue2 == HIGH && TrackSensorRightValue1 == LOW)
{
Car_Right(3400);
}
else if (TrackSensorLeftValue2 == LOW && TrackSensorRightValue1 == LOW)
{
Car_Run(3400);
}
}
}

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