基于stm32的智能小车
目录
一、功能实现
二、硬件清单
三、代码实现
1.先让小车动起来
2.串口控制小车行动
3.点动控制小车
4.硬件pwm调速
5. 左右轮各自调速
6. 循迹小车
7. 解决转弯平滑问题
8. 跟随小车
9. 摇头避障小车
9.1封装摇头功能
9.2封装超声波
9.3 封装电机驱动
10.小车测速实现
11. 串口控制小车并使用Oled显示速度
12. Wi-Fi测速小车并本地Oled显示
13. 语音控制小车
一、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
二、硬件清单
1.stm32f103(其他型号也行)板子
2.智能小车底盘、电机马达
3.电池盒和电池
4.超声波模块
5.sg90舵机模块
(黄pwm 红vcc 灰gnd)
6.old屏
7.测速模块
8.红外模块
9.esp8266
10.语音识别模块
三、代码实现
1.先让小车动起来
电机接线:B-1A -- PB0 B-1B -- PB1 A-1A -- PB2 A-1B -- PB10
#include "motor.h"
void goForward(void)//前进
{// 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)后退
{// 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)//左转
{// 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)//右转
{// 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)//停止
{// 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);
}
#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
#include "motor.h"//main函数的while循环部分:
while (1)
{/* USER CODE END WHILE */goForward();HAL_Delay(1000);goBack();HAL_Delay(1000);goLeft();HAL_Delay(1000);goRight();HAL_Delay(1000);stop();HAL_Delay(1000);/* USER CODE BEGIN 3 */
}
2.串口控制小车行动
#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;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;
}
#include "motor.h"
extern uint8_t buf;
//main函数
HAL_UART_Receive_IT(&huart1, &buf, 1);
3.点动控制小车
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();
HAL_NVIC_SetPriority(SysTick_IRQn,0,0); //或者通过cubeMX配置
while(1)
{stop();
}
4.硬件pwm调速
根据公式配置psc和arr
代码实现
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);
}
5. 左右轮各自调速
// 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
代码实现
#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. 解决转弯平滑问题
#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. 跟随小车
#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
#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
initSG90();HAL_Delay(1000);while (1)
{sgLeft();HAL_Delay(1000);sgMiddle();HAL_Delay(1000);sgRight();HAL_Delay(1000);sgMiddle();HAL_Delay(1000);
}
9.2封装超声波
超声波接线 Trig -- PB7 Echo -- PB8
#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
}
#ifndef __SR04_H__
#define __SR04_H__double get_distance(void);#endif
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)
{/* USER CODE END WHILE *//* USER CODE BEGIN 3 */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.小车测速实现
代码实现
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显示速度
#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; }
}
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
代码实现
#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);}
}
基于stm32的智能小车相关推荐
- 基于STM32的智能小车方案设计
基于STM32的智能小车设计 前言 一.什么是STM32智能小车? 二.模块汇总 1.主控板(STM32F103ZE) 2.底板 3.电机 4.避障模块(超声波传感器,红外传感器) 5.寻迹模块(3路 ...
- 基于STM32的智能小车(一)
## 基于STM32的智能小车 在假期自学了STM32,一直想做一个智能小车,刚好这次有时间就在家自己制作了这个基于STM32的智能小车,小车基本功能包括循迹.壁障及手机蓝牙控制,本人是第一次制作小车 ...
- 基于STM32的智能小车--舵机云台设计
基于STM32的智能小车 第一章 基于STM32的智能小车方案设计 第二章 基于STM32的智能小车–电机驱动设计 第三章 基于STM32的智能小车–循迹设计 第四章 基于STM32的智能小车–避障设 ...
- 基于STM32的智能小车--电机驱动设计
基于STM32的智能小车 第一章 基于STM32的智能小车方案设计 基于STM32的智能小车--电机驱动设计 基于STM32的智能小车 前言 一.电机是什么? 二.常见电机分类 1.有刷电机 2.无刷 ...
- 基于stm32蓝牙智能小车设计
前言: 本文描述了一个由STM32微处理器.步进电机.蓝牙,L298N等模块构成的.该系统采用STM32微处理器为核心,在MDK环境下进行编程,通知控制L298N模块IN1~IN4引脚的高低电平进而控 ...
- 基于stm32的智能小车(远程控制、避障、循迹)
学完stm32,总是想做点东西"大显身手"一下,智能小车就成了首选项目,其核心只是就是PWM输出,I/O口引脚电平判断. 制作智能小车的硬件名单: 制作智能小车的硬件列表:(1) ...
- 基于stm32的智能小车设计(一)
目录 一.原理简述 二.系统硬件设计 1.电机驱动选型 1.1 L298N 1.2 L9110 1.3 DRV8833 1.4 TB6612 2.系统整体硬件设计 3.stm32主控制模块 4. ...
- 【单片机项目】基于STM32的智能小车设计(一)流程设计
其实前几周就已经将小车调好并且也发了视频,但是每天忙于复习,也没有时间来对小车的流程设计.硬件设计.程序编写进行一个总结,正好周五可以休息一下,就分三个模块对这个智能小车项目进行一个总结. 这个小项目 ...
- 【单片机项目】基于STM32的智能小车设计(三)软件设计
这是智能小车的最后一篇博客,主要讲解一下小车的程序设计. 电机的驱动: 我写了俩种转弯,一种是一个轮朝后一个轮朝前的转弯,另一种是抱死一个轮另一个向前,使用PWM来调速 ...
最新文章
- 最新机器学习开源项目Top10
- Ubuntu 无线密码破解利器aircrack-ng
- python_selenium之第一个自动化脚本
- 【Android游戏开发十八】解放手指,利用传感器开发游戏!
- MemCached的telnet命令行参数
- 阿里巴巴1682亿背后的“企业级”高效持续交付
- 【缓存】缓存,这么用才真正达到缓存的效果
- 7-30 字符串的冒泡排序 (20 分) or 7-27 冒泡法排序 (20 分)
- 应用机器学习(九):主成分分析
- 那些年出现的遇到的 错误 VS (长期)
- 如何以CustomValidator搭配jQuery AJAX进行Server端验证(转)
- 一例WINDOWS系统上的JAVA UI卡死
- ffmpeg aac解码pcm
- 房地产管理系统的核心技术与功能
- C++覆盖(override)
- MindManager2020官方中文版思维导图软件使用激活安装免费教程下载
- springboot 集成 RabbitMQ confirm 确认模式和 return 回退模式以及Consumer Ack模式
- 回测好,为什么实盘不靠谱?
- Log4J使用说明书
- 各JDK、JRE官网下载地址
热门文章
- 送给创业者的几句窝心话
- gauge对应的JAVA类型_Java_Gauge(1)
- 一文让你彻底搞懂最小二乘法(超详细推导)
- 湖北移动CM101s-Hi3798MV100-EMMC-m8214-当贝桌面卡刷强刷包
- 不写sql的Java_解放双手,不写SQL!一个开源mybatis神器
- 区块链历史坐标与稳定货币之我见
- 【集合论】集合恒等式 ( 幂等律 | 交换律 | 结合律 | 分配率 | 德摩根律 | 吸收率 | 零律 | 同一律 | 排中律 | 矛盾律 | 余补律 | 双重否定定律 | 补交转换律 )
- 相对定位绝对定位固定定位元素的层级
- switch语句和case语句的特性
- 服务器自动添加了一个账户密码错误,OUTLOOK添加账户通过用户名和密码自动连接提示到邮件服务器的加密连接不可用...