一、硬件清单
1、主控STM32F103C8T6
2、L9110S电机模块
3、超声波模块
4、sg90舵机模块
5、oled屏
6、测速模块
7、红外模块
8、esp8266模块(wifi模块)
9、语音模块
10、循迹模块
二、功能实现
左右转与前进后退:通过控制左组轮和右组轮的配合实现。pwm调速使其更平滑
循迹功能:基于光电传感器原理,通过判断黑线和白线来决定左转或者右转
跟随功能:通过超声波测出小车和跟随物的距离决定移动方向
避障功能:通过超声波检测出前方障碍物,做出改变方向的决定
语音模块控制:多种语音改变多种引脚的电平,通过语音控制实现以上多种功能的切换
old屏显示速度:将测速模块的数据通过oled屏显示
远程控制:支持蓝牙、4g以及WiFi控制小车
三、相关代码
1、让小车动起来
IA1输入高电平,IA1输入低电平,【OA1 OB1】电机正转;
IA1输入低电平,IA1输入高电平,【OA1 OB1】电机反转;
IA2输入高电平,IA2输入低电平,【OA2 OB2】电机正转;
IA2输入低电平,IA2输入高电平,【OA2 OB2】电机反转;
motor.c
#include "motor.h"
void goForward(void)
{// 左轮HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET);HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);// 右轮HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET);HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
}
void goBack(void)
{// 左轮HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_SET);// 右轮HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_SET);
}
void goLeft(void)
{// 左轮HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);// 右轮HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET);HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
}
void goRight(void)
{// 左轮HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET);HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);// 右轮HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
}
void stop(void)
{// 左轮HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET);HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_SET);// 右轮HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
}
motot.h
#ifndef __MOTOR_H__
#define __MOTOR_H__#include "main.h"void goForward(void);
void goBack(void);
void goLeft(void);
void goRight(void);
void stop(void);#endif
main.c
#include "motor.h"//main函数的while循环部分:
while (1)
{goForward();HAL_Delay(1000);goBack();HAL_Delay(1000);goLeft();HAL_Delay(1000);goRight();HAL_Delay(1000);stop();HAL_Delay(1000);
}
2、串口控制小车方向
usart.c(在工程配置的usart.c中添加以下代码)
#include "string.h"
#include "stdio.h"
#include "motor.h"//串口接收缓存(1字节)
uint8_t buf=0;//定义最大接收字节数 200,可根据需求调整
#define UART1_REC_LEN 200// 接收缓冲, 串口接收到的数据放在这个数组里,最大UART1_REC_LEN个字节
uint8_t UART1_RX_Buffer[UART1_REC_LEN];// 接收状态
// bit15, 接收完成标志
// bit14, 接收到0x0d
// bit13~0, 接收到的有效字节数目
uint16_t UART1_RX_STA=0;
#define SIZE 12
char buffer[SIZE];// 接收完成回调函数,收到一个数据后,在这里处理
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{//判断中断由哪个串口触发if(huart->Instance == USART1){//判断接收是否完成(UART1_RX_STA bit15 位是否为1)if((UART1_RX_STA & 0x8000) == 0){//如果已经收到了 0x0d (回车),if(UART1_RX_STA & 0x4000){//判断是否收到 0x0a (换行)if(buf == 0x0a){//如果 0x0a和0x0d都收到,则将bit15位置为1UART1_RX_STA |= 0x8000;//车控指令if(!strcmp(UART1_RX_Buffer, "M1"))goForward();else if(!strcmp(UART1_RX_Buffer, "M2"))goBack();else if(!strcmp(UART1_RX_Buffer, "M3"))goLeft();else if(!strcmp(UART1_RX_Buffer, "M4"))goRight();elsestop();memset(UART1_RX_Buffer, 0, UART1_REC_LEN);UART1_RX_STA = 0;}else//否则认为接收错误,重新开始UART1_RX_STA = 0;}else // 如果没有收到了 0x0d (回车) {//则先判断收到的这个字符是否是 0x0d (回车)if(buf == 0x0d){//是的话则将 bit14 位置为1UART1_RX_STA |= 0x4000;}else{//否则将接收到的数据保存在缓存数组里UART1_RX_Buffer[UART1_RX_STA & 0X3FFF] = buf;UART1_RX_STA++;//如果接收数据大于UART1_REC_LEN(200字节),则重新开始接收if(UART1_RX_STA > UART1_REC_LEN - 1)UART1_RX_STA = 0;}}}//重新开启中断HAL_UART_Receive_IT(&huart1, &buf, 1);}
}
int fputc(int ch, FILE *f)
{unsigned char temp[1]={ch};HAL_UART_Transmit(&huart1,temp,1,0xffff);return ch;
}
注:主函数main.c中需要将中断打开,同时在点开魔术棒将u8勾上 如下:
#include "motor.h"
extern uint8_t buf;
//main函数
HAL_UART_Receive_IT(&huart1, &buf, 1);
3、串口点动控制小车
在usart.c车控指令处进行修改 如下:
if (!strcmp(UART1_RX_Buffer, "M1"))
{goForward();HAL_Delay(10);
}
else if (!strcmp(UART1_RX_Buffer, "M2"))
{goBack();HAL_Delay(10);
}
else if (!strcmp(UART1_RX_Buffer, "M3"))
{goLeft();HAL_Delay(10);
}
else if (!strcmp(UART1_RX_Buffer, "M4"))
{goRight();HAL_Delay(10);
}
elsestop();
注:这里的HAL_Delay函数为滴答定时器 若直接如上修改代码 则在串口助手中发出车控指令时会导致程序阻塞 有以下两种解决方法:
1.在主函数中调用以下函数修改滴答定时器优先级
HAL_NVIC_SetPriority(Systick_IRQn,0,0);
2.通过Cubemx配置滴答定时器优先级
4、硬件PWM调速控制小车前进
main.c
// main函数里
HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_2);
while (1)
{__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, 8);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, 8);HAL_Delay(1000);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, 10);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, 10);HAL_Delay(1000);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, 15);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, 15);HAL_Delay(1000);
}
注意:此时小车轮子并不能正常改变转动速度转动,原因是L9110电机模块每个控制口需要一高一低才可以动起来,如果PWM有效电平为高电平,则另一个 GPIO口则需要输出低电平才可以驱动轮子,解决方法是将电机模块对应的GPIO口设置低电平驱动即可
5、硬件PWM调速控制小车左右转
main.c
// main函数里
while (1)
{__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,8);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,15);HAL_Delay(1000);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,15);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,8);HAL_Delay(1000);
}
6、循迹小车
循迹原理
1.左右循迹模块都照射到白色上——红外返回——都输出低电平——指示灯亮——直走
2.左循迹模块照射到黑色跑道上——左边红外被吸收不返回——左边输出高电平——指示灯灭——需要左转
3.右循迹模块照射到黑色跑道上——右边红外被吸收不返回——右边输出高电平——指示灯灭——需要右转
这里循迹模块是一个传感器,需要获取传感器的值进行相应操作,所以Cubemx中需配置传感器对应引脚为输入模式,如下:
相关代码
main.c
#define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3)
#define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4)// main函数里
while (1)
{if (LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET)goForward();if (LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET)goLeft();if (LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET)goRight();if (LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET)stop();
}
7、解决平滑转弯问题
#define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3)
#define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4)
// main函数里
while (1)
{if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,19);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,19);}if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,15);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,8);}if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,8);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,15);}if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,0);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,0);}
}
8.跟随/避障小车
原理:
- 左边跟随模块能返回红外,输出低电平,右边不能返回,输出高电平,说明物体在左边,需要左转
- 右边跟随模块能返回红外,输出低电平,左边不能返回,输出高电平,说明物体在右边,需要右转
相关代码
main.c
#define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_5)
#define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_6)
// main函数里
while (1)
{if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET)goForward();if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET)goRight();if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET)goLeft();if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET)stop();
}
9、摇头避障小车
9.1 封装摇头功能
Cubemx配置
上图的预分频值和重装值通过公式代入得出,这里设置周期为20ms,公式如下:
如果周期为20ms,则 PSC=7199,ARR=199。
sg90模块角度控制:
0.5ms-------------0度; 2.5% 对应函数中CCRx为5
1.0ms------------45度; 5.0% 对应函数中CCRx为10
1.5ms------------90度; 7.5% 对应函数中CCRx为15(这里经过调试发现17比较接近于90°)
2.0ms-----------135度; 10.0% 对应函数中CCRx为20
2.5ms-----------180度; 12.5% 对应函数中CCRx为25
相关代码
sg90.c
#include "sg90.h"
#include "gpio.h"
#include "tim.h"void initSG90(void)//初始化90度
{HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_4); //启动定时器4__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 17); //将舵机置为90度
}void sgMiddle(void)
{__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 17); //将舵机置为90度
}void sgRight(void)
{__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 5); //将舵机置为0度
}void sgLeft(void)
{__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 25); //将舵机置为180度
}
sg90.h
#ifndef __SG90_H__
#define __SG90_H__void initSG90(void);
void sgMiddle(void);
void sgRight(void);
void sgLeft(void);#endif
main.c
#define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_5)
#define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_6)
// main函数里
while (1)
{if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET)goForward();if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET)goRight();if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET)goLeft();if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET)stop();
}
9.2 封装超声波传感器
Cubrmx配置
sr04.c
#include "sr04.h"
#include "gpio.h"
#include "tim.h"//使用TIM2来做us级延时函数
void TIM2_Delay_us(uint16_t n_us)
{/* 使能定时器2计数 */__HAL_TIM_ENABLE(&htim2);__HAL_TIM_SetCounter(&htim2, 0);while(__HAL_TIM_GetCounter(&htim2) < ((1 * n_us)-1) );/* 关闭定时器2计数 */__HAL_TIM_DISABLE(&htim2);
}double get_distance(void)
{int cnt=0;//1. Trig ,给Trig端口至少10us的高电平HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_SET);//拉高TIM2_Delay_us(20);HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_RESET);//拉低//2. echo由低电平跳转到高电平,表示开始发送波//波发出去的那一下,开始启动定时器while(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_8) == GPIO_PIN_RESET);//等待输入电平拉高HAL_TIM_Base_Start(&htim2);__HAL_TIM_SetCounter(&htim2,0);//3. 由高电平跳转回低电平,表示波回来了while(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_8) == GPIO_PIN_SET);//等待输入电平变低//波回来的那一下,我们开始停止定时器HAL_TIM_Base_Stop(&htim2);//4. 计算出中间经过多少时间cnt = __HAL_TIM_GetCounter(&htim2);//5. 距离 = 速度 (340m/s)* 时间/2(计数1次表示1us)return (cnt*340/2*0.000001*100); //单位:cm
}
sr04.h
#ifndef __SR04_H__
#define __SR04_H__double get_distance(void);#endif
main.c
#define MIDDLE 0
#define LEFT 1
#define RIGHT 2char dir;
double disMiddle;
double disLeft;
double disRight;while (1)
{if(dir != MIDDLE){sgMiddle();dir = MIDDLE;HAL_Delay(300);}disMiddle = get_distance();if(disMiddle > 35){//前进}else{//停止//测左边距离sgLeft();HAL_Delay(300);disLeft = get_distance();sgMiddle();HAL_Delay(300);sgRight();dir = RIGHT;HAL_Delay(300);disRight = get_distance();}
}
9.3 封装电机驱动
while (1)
{if(dir != MIDDLE){sgMiddle();dir = MIDDLE;HAL_Delay(300);}disMiddle = get_distance();if(disMiddle > 35){//前进goForward();}else if(disMiddle < 10){goBack();}else{//停止stop();//测左边距离sgLeft();HAL_Delay(300);disLeft = get_distance();sgMiddle();HAL_Delay(300);sgRight();dir = RIGHT;HAL_Delay(300);disRight = get_distance();if(disLeft < disRight){goRight();HAL_Delay(150);stop();}if(disRight < disLeft){goLeft();HAL_Delay(150);stop();}}HAL_Delay(50);
}
10、小车测速数据通过串口上传到上位机
Cubemx配置
main.c
//中断定时服务函数
unsigned int speedCnt;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{if (GPIO_Pin == GPIO_PIN_14)if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_14) == GPIO_PIN_RESET)speedCnt++;
}
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{printf("speed: %d\r\n", speedCnt);speedCnt = 0;
}
main函数里:
HAL_TIM_Base_Start_IT(&htim2);
11、串口控制小车并使用Oled屏显示速度
oled.c
#include "oled.h"
#include "i2c.h"
#include "oledfont.h"void Oled_Write_Cmd(uint8_t dataCmd)
{HAL_I2C_Mem_Write(&hi2c1, 0x78, 0x00, I2C_MEMADD_SIZE_8BIT,&dataCmd, 1, 0xff);
}void Oled_Write_Data(uint8_t dataData)
{HAL_I2C_Mem_Write(&hi2c1, 0x78, 0x40, I2C_MEMADD_SIZE_8BIT,&dataData, 1, 0xff);
}void Oled_Init(void){Oled_Write_Cmd(0xAE);//--display offOled_Write_Cmd(0x00);//---set low column addressOled_Write_Cmd(0x10);//---set high column addressOled_Write_Cmd(0x40);//--set start line address Oled_Write_Cmd(0xB0);//--set page addressOled_Write_Cmd(0x81); // contract controlOled_Write_Cmd(0xFF);//--128 Oled_Write_Cmd(0xA1);//set segment remap Oled_Write_Cmd(0xA6);//--normal / reverseOled_Write_Cmd(0xA8);//--set multiplex ratio(1 to 64)Oled_Write_Cmd(0x3F);//--1/32 dutyOled_Write_Cmd(0xC8);//Com scan directionOled_Write_Cmd(0xD3);//-set display offsetOled_Write_Cmd(0x00);//Oled_Write_Cmd(0xD5);//set osc divisionOled_Write_Cmd(0x80);//Oled_Write_Cmd(0xD8);//set area color mode offOled_Write_Cmd(0x05);//Oled_Write_Cmd(0xD9);//Set Pre-Charge PeriodOled_Write_Cmd(0xF1);//Oled_Write_Cmd(0xDA);//set com pin configuartionOled_Write_Cmd(0x12);//Oled_Write_Cmd(0xDB);//set VcomhOled_Write_Cmd(0x30);//Oled_Write_Cmd(0x8D);//set charge pump enableOled_Write_Cmd(0x14);//Oled_Write_Cmd(0xAF);//--turn on oled panel
}void Oled_Screen_Clear(void){char i,n;Oled_Write_Cmd (0x20); //set memory addressing modeOled_Write_Cmd (0x02); //page addressing modefor(i=0;i<8;i++){Oled_Write_Cmd(0xb0+i); //éè??ò3μ??·£¨0~7£?Oled_Write_Cmd(0x00); //éè????ê??????aáDμíμ??·Oled_Write_Cmd(0x10); //éè????ê??????aáD??μ??· for(n=0;n<128;n++)Oled_Write_Data(0x00); }
}void Oled_Show_Char(char row,char col,char oledChar){ //row*2-2unsigned int i;Oled_Write_Cmd(0xb0+(row*2-2)); //page 0Oled_Write_Cmd(0x00+(col&0x0f)); //lowOled_Write_Cmd(0x10+(col>>4)); //high for(i=((oledChar-32)*16);i<((oledChar-32)*16+8);i++){Oled_Write_Data(F8X16[i]); //写数据oledTable1}Oled_Write_Cmd(0xb0+(row*2-1)); //page 1Oled_Write_Cmd(0x00+(col&0x0f)); //lowOled_Write_Cmd(0x10+(col>>4)); //highfor(i=((oledChar-32)*16+8);i<((oledChar-32)*16+8+8);i++){Oled_Write_Data(F8X16[i]); //写数据oledTable1}
}/******************************************************************************/
// 函数名称:Oled_Show_Char
// 输入参数:oledChar
// 输出参数:无
// 函数功能:OLED显示单个字符
/******************************************************************************/
void Oled_Show_Str(char row,char col,char *str){while(*str!=0){Oled_Show_Char(row,col,*str);str++;col += 8; }
}
显示代码实现
extern uint8_t buf;
unsigned int speedCnt = 0;
char speedMes[24]; //主程序发送速度数据的字符串缓冲区void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{if (GPIO_Pin == GPIO_PIN_14)if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_14) == GPIO_PIN_RESET)speedCnt++;
}void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{printf("speed: %d\r\n", speedCnt);sprintf(speedMes,"speed:%2d cm/s",speedCnt);//串口数据的字符串拼装,speed是格子,每个格子1cmOled_Show_Str(2,2,speedMes);speedCnt = 0;
}
12、Wi-Fi测速小车并本地Oled显示
#define MIDDLE 0
#define LEFT 1
#define RIGHT 2#define BZ 1
#define XJ 2
#define GS 3#define LeftWheel_Value_XJ HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3)
#define RightWheel_Value_XJ HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4)#define LeftWheel_Value_GS HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_8)
#define RightWheel_Value_GS HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_9)#define A25 HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_15)
#define A26 HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_13)
#define A27 HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_14)char dir;void xunjiMode()
{if(LeftWheel_Value_XJ == GPIO_PIN_RESET && RightWheel_Value_XJ == GPIO_PIN_RESET)goForward();if(LeftWheel_Value_XJ == GPIO_PIN_SET && RightWheel_Value_XJ == GPIO_PIN_RESET)goLeft();if(LeftWheel_Value_XJ == GPIO_PIN_RESET && RightWheel_Value_XJ == GPIO_PIN_SET)goRight();if(LeftWheel_Value_XJ == GPIO_PIN_SET && RightWheel_Value_XJ == GPIO_PIN_SET)stop();
}void gensuiMode()
{if(LeftWheel_Value_GS == GPIO_PIN_RESET && RightWheel_Value_GS == GPIO_PIN_RESET)goForward();if(LeftWheel_Value_GS == GPIO_PIN_SET && RightWheel_Value_GS == GPIO_PIN_RESET)goRight();if(LeftWheel_Value_GS == GPIO_PIN_RESET && RightWheel_Value_GS == GPIO_PIN_SET)goLeft();if(LeftWheel_Value_GS == GPIO_PIN_SET && RightWheel_Value_GS == GPIO_PIN_SET)stop();
}void bizhangMode()
{double disMiddle;double disLeft;double disRight;if(dir != MIDDLE){sgMiddle();dir = MIDDLE;HAL_Delay(300);}disMiddle = get_distance();if(disMiddle > 35){//前进goForward();}else if(disMiddle < 10){goBack();}else{//停止stop();//测左边距离sgLeft();HAL_Delay(300);disLeft = get_distance();sgMiddle();HAL_Delay(300);sgRight();dir = RIGHT;HAL_Delay(300);disRight = get_distance();if(disLeft < disRight){goRight();HAL_Delay(150);stop();}if(disRight < disLeft){goLeft();HAL_Delay(150);stop();}}HAL_Delay(50);
}//main部分MX_GPIO_Init();MX_TIM4_Init();MX_TIM2_Init();MX_I2C1_Init();initSG90();HAL_Delay(1000);dir = MIDDLE;Oled_Init();Oled_Screen_Clear();Oled_Show_Str(2,2,"-----Ready----");while (1){//满足寻迹模式的条件if(A25 == 1 && A26 == 1 && A27 == 0){if(mark != XJ){Oled_Screen_Clear();Oled_Show_Str(2,2,"-----XunJi----");}mark = XJ;xunjiMode();}//满足跟随模式的条件if(A25 == 0 && A26 == 1 && A27 == 1){if(mark != GS){Oled_Screen_Clear();Oled_Show_Str(2,2,"-----GenSui----");}mark = GS;gensuiMode();}//满足避障模式的条件if(A25 == 1 && A26 == 0 && A27 == 1){if(mark != BZ){Oled_Screen_Clear();Oled_Show_Str(2,2,"-----BiZhang----");}mark = BZ;bizhangMode();}}
}
13、语音控制小车
#include "sg90.h"
#include "sr04.h"
#include "motor.h"
#include "oled.h"
#include "string.h"
#define MIDDLE 0
#define LEFT 1
#define RIGHT 2
#define BZ 1
#define XJ 2
#define GS 3
#define LeftWheel_Value_XJ HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3)
#define RightWheel_Value_XJ HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4)
#define LeftWheel_Value_GS HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_8)
#define RightWheel_Value_GS HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_9)
#define XJ_VALUE HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_14)
#define GS_VALUE HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_15)
#define BZ_VALUE HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_13)
char dir;
void xunjiMode()
{if(LeftWheel_Value_XJ == GPIO_PIN_RESET && RightWheel_Value_XJ == GPIO_PIN_RESET)goForward();if(LeftWheel_Value_XJ == GPIO_PIN_SET && RightWheel_Value_XJ == GPIO_PIN_RESET)goLeft();if(LeftWheel_Value_XJ == GPIO_PIN_RESET && RightWheel_Value_XJ == GPIO_PIN_SET)goRight();if(LeftWheel_Value_XJ == GPIO_PIN_SET && RightWheel_Value_XJ == GPIO_PIN_SET)stop();
}
void gensuiMode()
{if(LeftWheel_Value_GS == GPIO_PIN_RESET && RightWheel_Value_GS == GPIO_PIN_RESET)goForward();if(LeftWheel_Value_GS == GPIO_PIN_SET && RightWheel_Value_GS == GPIO_PIN_RESET)goRight();if(LeftWheel_Value_GS == GPIO_PIN_RESET && RightWheel_Value_GS == GPIO_PIN_SET)goLeft();if(LeftWheel_Value_GS == GPIO_PIN_SET && RightWheel_Value_GS == GPIO_PIN_SET)stop();
}
void bizhangMode()
{double disMiddle;double disLeft;double disRight;if(dir != MIDDLE){sgMiddle();dir = MIDDLE;HAL_Delay(300);}disMiddle = get_distance();if(disMiddle > 35){//前进goForward();}else if(disMiddle < 10){goBack();}else{//停止stop();//测左边距离sgLeft();HAL_Delay(300);disLeft = get_distance();sgMiddle();HAL_Delay(300);sgRight();dir = RIGHT;HAL_Delay(300);disRight = get_distance();if(disLeft < disRight){goRight();HAL_Delay(150);stop();}if(disRight < disLeft){goLeft();HAL_Delay(150);stop();}}HAL_Delay(50);
}
int main(void)
{int mark = 0;HAL_Init();SystemClock_Config();MX_GPIO_Init();MX_TIM4_Init();MX_TIM2_Init();MX_I2C1_Init();initSG90();HAL_Delay(1000);dir = MIDDLE;Oled_Init();Oled_Screen_Clear();Oled_Show_Str(2,2,"-----Ready----");while (1){if(XJ_VALUE == GPIO_PIN_RESET && GS_VALUE == GPIO_PIN_SET && BZ_VALUE ==GPIO_PIN_SET){if(mark != XJ){Oled_Screen_Clear();Oled_Show_Str(2,2,"-----XunJi----");}mark = XJ;xunjiMode();}//满足循迹模式的条件if(XJ_VALUE == GPIO_PIN_SET && GS_VALUE == GPIO_PIN_RESET && BZ_VALUE ==GPIO_PIN_SET){if(mark != GS){Oled_Screen_Clear();Oled_Show_Str(2,2,"-----GenSui----");}mark = GS;gensuiMode();}//满足避障模式的条件if(XJ_VALUE == GPIO_PIN_SET && GS_VALUE == GPIO_PIN_SET && BZ_VALUE ==GPIO_PIN_RESET){if(mark != BZ){Oled_Screen_Clear();Oled_Show_Str(2,2,"-----BiZhang----");}mark = BZ;bizhangMode();}HAL_Delay(50);}
}