[嵌入式] 基于正电源子STM32做的循迹小车

开发: C++知识库 Java知识库 JavaScript Python PHP知识库人工智能区块链大数据移动开发嵌入式开发工具数据结构与算法开发测试游戏开发网络协议系统运维
教程: HTML教程 CSS教程 JavaScript教程 Go语言教程 JQuery教程 VUE教程 VUE3教程 Bootstrap教程 SQL数据库教程 C语言教程 C++教程 Java教程 Python教程 Python3教程 C#教程
数码: 电脑笔记本显卡显示器固态硬盘硬盘耳机手机 iphone vivo oppo 小米华为单反装机图拉丁

-> 嵌入式 -> 基于正电源子STM32做的循迹小车 -> 正文阅读

[嵌入式]基于正电源子STM32做的循迹小车

基于正电源子STM32做的循迹小车

一.材料

1.核心板
2.驱动
3.电源
4.稳压模块
5.循迹模块
6.TT电机
7.亚克力板

二.原理
这里以黑胶布为例，循迹模块将对于黑胶布方向调整的信息反馈到核心板中（原理在之前的51循迹小车所讲过，这里便不在提及51循迹小车），核心板处理信息控制电机对小车方向做出调整，使小车可以沿黑线移动。

三.代码思想
当小车偏左时，会导致右侧循迹模块触发并产生一个低电平。此时核心板检测到右侧循迹模块呈现低电平会执行右转函数，使小车及时修改轨迹，偏右时同理。当速度过快时小车来不及反应会冲出黑线，此时我们可以使用pwm将小车速度控制在一个合理范围。

四.代码

电机控制

#ifndef __MOTO_H
#define __MOTO_H
#include "sys.h"

#define IN1 PFout(6)
#define IN2 PFout(7)
#define IN3 PFout(8)
#define IN4 PEout(2)
#define IN5 PGout(6)
#define IN6 PGout(7)
#define IN7 PGout(8)
#define IN8 PEout(3)
#define R1 PEin(6)
#define R2 PEin(7)
#define R3 PEin(8)


void xunji_Init(void);
void MOTO_GPIO_Init(void);
					
void Car_Go(void);
void Car_Back(void);									
void Car_Turn_Right(void);
void Car_Turn_Left(void);
void Car_Stop(void);
void Car_Right_90_Init(void);
void Car_Left_90_Init(void);
#endif

#include "moto.h"
#include "stm32f10x.h"
#include "pwm.h"



void MOTO_GPIO_Init(void)
{		
		/*?¨ò?ò???GPIO_InitTypeDefààDíμ??á11ì?*/
		GPIO_InitTypeDef GPIO_InitStructure;
		RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOF|RCC_APB2Periph_GPIOG|RCC_APB2Periph_GPIOE, ENABLE);                                	  /*?a??GPIOμ?íaéèê±?ó*/																   
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
  	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6| GPIO_Pin_7 | GPIO_Pin_8;	    /*????òa????μ?GPIOòy??*/	
		GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;                              /*éè??òy???￡ê??aí¨ó?í?íìê?3?*/   
		GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;                             /*éè??òy???ù?ê?a50MHz */ 
		GPIO_Init(GPIOF, &GPIO_InitStructure);                                	/*μ÷ó??aoˉêy￡?3?ê??ˉGPIO*/			
	
	  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2| GPIO_Pin_3;	    /*????òa????μ?GPIOòy??*/	
		GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;                              /*éè??òy???￡ê??aí¨ó?í?íìê?3?*/   
		GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;                             /*éè??òy???ù?ê?a50MHz */ 
		GPIO_Init(GPIOE, &GPIO_InitStructure);                                	/*μ÷ó??aoˉêy￡?3?ê??ˉGPIO*/		

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6| GPIO_Pin_7 | GPIO_Pin_8;	    /*????òa????μ?GPIOòy??*/	
		GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;                              /*éè??òy???￡ê??aí¨ó?í?íìê?3?*/   
		GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;                             /*éè??òy???ù?ê?a50MHz */ 
		GPIO_Init(GPIOG, &GPIO_InitStructure);                                	/*μ÷ó??aoˉêy￡?3?ê??ˉGPIO*/		
	
	  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;	    /*????òa????μ?GPIOòy??*/	
		GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;                              /*éè??òy???￡ê??aí¨ó?í?íìê?3?*/   
		GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;                             /*éè??òy???ù?ê?a50MHz */ 
		GPIO_Init(GPIOA, &GPIO_InitStructure);                                	/*μ÷ó??aoˉêy￡?3?ê??ˉGPIO*/	
}


void Car_Go()
{

	TIM_SetCompare3(TIM3,370);		   
	TIM_SetCompare2(TIM5,530);		   
	TIM_SetCompare3(TIM4,370);		   
	TIM_SetCompare4(TIM4,400);	
	IN1 = 1;
	IN2 = 0;
	IN3 = 1;
	IN4 = 0;
	IN5 = 1;
	IN6 = 0;
	IN7 = 1;
	IN8 = 0;
}

void Car_Back()
{
	TIM_SetCompare3(TIM3,370);		   
	TIM_SetCompare2(TIM5,530);		   
	TIM_SetCompare3(TIM4,370);		   
	TIM_SetCompare4(TIM4,400);	
	IN1 = 0;
	IN2 = 1;
	IN3 = 0;
	IN4 = 1;
	IN5 = 0;
	IN6 = 1;
	IN7 = 0;
	IN8 = 1;
}

void Car_Turn_Right()
{
	TIM_SetCompare3(TIM3,370);		   
	TIM_SetCompare2(TIM5,350);		   
	TIM_SetCompare3(TIM4,370);		   
	TIM_SetCompare4(TIM4,400);	
	IN1 = 1;
	IN2 = 0;
	IN3 = 0;
	IN4 = 1;
	IN5 = 0;
	IN6 = 1;
	IN7 = 1;
	IN8 = 0;
}
void Car_Turn_Left()
{
	TIM_SetCompare3(TIM3,370);		   
	TIM_SetCompare2(TIM5,350);		   
	TIM_SetCompare3(TIM4,370);		   
	TIM_SetCompare4(TIM4,400);	
	IN1 = 0;
	IN2 = 1;
	IN3 = 1;
	IN4 = 0;
	IN5 = 1;
	IN6 = 0;
	IN7 = 0;
	IN8 = 1;
}
void Car_Stop()
{
 IN1 = 0;
 IN2 = 0;
 IN3 = 0;
 IN4 = 0;
 IN5 = 0;
 IN6 = 0;
 IN7 = 0;
 IN8 = 0;
}
void Car_Right_90_Init()
{
	TIM_SetCompare3(TIM3,340);		   
	TIM_SetCompare2(TIM5,390);		   
	TIM_SetCompare3(TIM4,385);		   
	TIM_SetCompare4(TIM4,385);	
	IN1 = 1;
	IN2 = 0;
	IN3 = 0;
	IN4 = 1;
	IN5 = 0;
	IN6 = 1;
	IN7 = 1;
	IN8 = 0;

}
void Car_Left_90_Init()
{
	TIM_SetCompare3(TIM3,340);		   
	TIM_SetCompare2(TIM5,390);		   
	TIM_SetCompare3(TIM4,385);		   
	TIM_SetCompare4(TIM4,385);	
	IN1 = 0;
	IN2 = 1;
	IN3 = 1;
	IN4 = 0;
	IN5 = 1;
	IN6 = 0;
	IN7 = 0;
	IN8 = 1;

}

PWM

#ifndef __TIMER_H
#define __TIMER_H
#include "sys.h"

void TIM4_PWM_Init(u16 arr,u16 psc);
#endif

#include "pwm.h"
#include "stm32f10x.h"

void TIM4_PWM_Init(u16 arr,u16 psc)
{  
	GPIO_InitTypeDef GPIO_InitStructure;
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	TIM_OCInitTypeDef  TIM_OCInitStructure;
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);	//ê1?ü?¨ê±?÷3ê±?ó
 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB  | RCC_APB2Periph_AFIO, ENABLE);  //ê1?üGPIOíaéèoíAFIO?′ó?1|?ü?￡?éê±?ó
	 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA  | RCC_APB2Periph_AFIO, ENABLE);  
//	GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE); //Timer32?·???ó3é?  TIM3_CH2->PB5    
 
   //éè????òy???a?′ó?ê?3?1|?ü,ê?3?TIM3 CH2μ?PWM??3?2¨D?	GPIOB.5
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9; //TIM_CH2
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //?′ó?í?íìê?3?
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOB, &GPIO_InitStructure);//3?ê??ˉGPIO
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; //TIM_CH2
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //?′ó?í?íìê?3?
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);//3?ê??ˉGPIO
	
	TIM_TimeBaseStructure.TIM_Period = arr; //éè???ú??ò????üD?ê??t×°è????ˉμ?×??ˉ??×°????′??÷?ü?úμ??μ
	TIM_TimeBaseStructure.TIM_Prescaler =psc; //éè??ó?à′×÷?aTIMxê±?ó?μ?ê3yêyμ??¤·??μ?μ 
	TIM_TimeBaseStructure.TIM_ClockDivision = 0; //éè??ê±?ó·???:TDTS = Tck_tim
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM?òé???êy?￡ê?
	TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure); //?ù?YTIM_TimeBaseInitStruct?D???¨μ?2?êy3?ê??ˉTIMxμ?ê±???ùêyμ￥??
 
   //3?ê??ˉTIM3 TIM4
	TIM_TimeBaseStructure.TIM_Period = arr; //éè???ú??ò????üD?ê??t×°è????ˉμ?×??ˉ??×°????′??÷?ü?úμ??μ
	TIM_TimeBaseStructure.TIM_Prescaler =psc; //éè??ó?à′×÷?aTIMxê±?ó?μ?ê3yêyμ??¤·??μ?μ 
	TIM_TimeBaseStructure.TIM_ClockDivision = 0; //éè??ê±?ó·???:TDTS = Tck_tim
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM?òé???êy?￡ê?
	TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //?ù?YTIM_TimeBaseInitStruct?D???¨μ?2?êy3?ê??ˉTIMxμ?ê±???ùêyμ￥??
	
	TIM_TimeBaseStructure.TIM_Period = arr; //éè???ú??ò????üD?ê??t×°è????ˉμ?×??ˉ??×°????′??÷?ü?úμ??μ
	TIM_TimeBaseStructure.TIM_Prescaler =psc; //éè??ó?à′×÷?aTIMxê±?ó?μ?ê3yêyμ??¤·??μ?μ 
	TIM_TimeBaseStructure.TIM_ClockDivision = 0; //éè??ê±?ó·???:TDTS = Tck_tim
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM?òé???êy?￡ê?
	TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //?ù?YTIM_TimeBaseInitStruct?D???¨μ?2?êy3?ê??ˉTIMxμ?ê±???ùêyμ￥??
	
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //?????¨ê±?÷?￡ê?:TIM??3??í?èμ÷???￡ê?2
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //±è??ê?3?ê1?ü
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //ê?3???D?:TIMê?3?±è????D???
	TIM_OC3Init(TIM3, &TIM_OCInitStructure);  //?ù?YT???¨μ?2?êy3?ê??ˉíaéèTIM4 OC2
	
	//3?ê??ˉTIM3 Channel2 PWM?￡ê?	 
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //?????¨ê±?÷?￡ê?:TIM??3??í?èμ÷???￡ê?2
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //±è??ê?3?ê1?ü
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //ê?3???D?:TIMê?3?±è????D???
	TIM_OC2Init(TIM5, &TIM_OCInitStructure);  //?ù?YT???¨μ?2?êy3?ê??ˉíaéèTIM4 OC2
	
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //?????¨ê±?÷?￡ê?:TIM??3??í?èμ÷???￡ê?2
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //±è??ê?3?ê1?ü
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //ê?3???D?:TIMê?3?±è????D???
	TIM_OC3Init(TIM4, &TIM_OCInitStructure);  //?ù?YT???¨μ?2?êy3?ê??ˉíaéèTIM4 OC3
	
	

  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //?????¨ê±?÷?￡ê?:TIM??3??í?èμ÷???￡ê?2
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //±è??ê?3?ê1?ü
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //ê?3???D?:TIMê?3?±è????D???
	TIM_OC4Init(TIM4, &TIM_OCInitStructure);  //?ù?YT???¨μ?2?êy3?ê??ˉíaéèTIM4 OC4
	
	TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
	TIM_OC2PreloadConfig(TIM5, TIM_OCPreload_Enable);
	TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
	TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);  //ê1?üTIM3?úCCR2é?μ??¤×°????′??÷
 
  TIM_Cmd(TIM3, ENABLE);
	TIM_Cmd(TIM4, ENABLE);  //ê1?üTIM3
	TIM_Cmd(TIM5, ENABLE);
	

}

main

#include "moto.h"
#include "delay.h"
#include "pwm.h"
#include "usart.h"

u8 flag;

int main()
{

	  MOTO_GPIO_Init();
	  uart_init(38400);
	  delay_init();
	  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
	  TIM4_PWM_Init(899,0);	 
while(1)
   {

		 
		 
		 
		 
		 
		 
		 
		 if(GPIO_ReadInputDataBit(GPIOE,GPIO_Pin_6)==0)
		 {
       Car_Turn_Right();//×ó×a
		 } 
		 
		 else if(GPIO_ReadInputDataBit(GPIOE,GPIO_Pin_7)==8)
		 {
			  Car_Go();

		 }
		 else if(GPIO_ReadInputDataBit(GPIOE,GPIO_Pin_8)==8)
		 {
		    Car_Turn_Left();
		 }
		 else
		 {
	      Car_Stop();
		 }
	 }
 }