基于STM32的超声波避障小车

超声波避障小车原理就是通过给超声波模块超过10us的高电平信号，自动发送8个40KHZ的方波，来检测是不是有信号的返回，如果有信号的返回，那么就判断为前方有障碍物，并且通过舵机云台，来实现180度的旋转，检测左右两边是否的有障碍物，从而进行避障的功能。

说完原理，接下来就是根据各部件的原理来进行编程，我的超声波避障小车主要涉及了超声波HC-SR04模块，L298N电机驱动模块，舵机sg90模块。
首先是最基本的电机驱动模块的相关代码：

#include "bsp_motor.h"
#include "delay.h"
#include <math.h>void TIM4_PWM_Motor(unsigned int arr,unsigned int psc)
{   GPIO_InitTypeDef                    GPIO_InitStuct;TIM_TimeBaseInitTypeDef      TIM_TimeBaseInitStuct;TIM_OCInitTypeDef                 TIM_OCInitStuct;RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB, ENABLE);GPIO_InitStuct.GPIO_Pin=GPIO_Pin_7;                      //左电机控制GPIO_InitStuct.GPIO_Mode=GPIO_Mode_Out_PP;GPIO_InitStuct.GPIO_Speed=GPIO_Speed_50MHz;GPIO_Init(GPIOB, &GPIO_InitStuct);GPIO_InitStuct.GPIO_Pin=GPIO_Pin_8;                        //左电机PWMGPIO_InitStuct.GPIO_Mode=GPIO_Mode_AF_PP;GPIO_InitStuct.GPIO_Speed=GPIO_Speed_50MHz;GPIO_Init(GPIOB, &GPIO_InitStuct);GPIO_InitStuct.GPIO_Pin=GPIO_Pin_9;                        //右电机PWMGPIO_InitStuct.GPIO_Mode=GPIO_Mode_AF_PP;GPIO_InitStuct.GPIO_Speed=GPIO_Speed_50MHz;GPIO_Init(GPIOB, &GPIO_InitStuct);GPIO_InitStuct.GPIO_Pin=GPIO_Pin_4;                        //右电机方向控制GPIO_InitStuct.GPIO_Mode=GPIO_Mode_Out_PP;GPIO_InitStuct.GPIO_Speed=GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStuct);TIM_TimeBaseInitStuct.TIM_ClockDivision=0;TIM_TimeBaseInitStuct.TIM_CounterMode=TIM_CounterMode_Up;TIM_TimeBaseInitStuct.TIM_Period=arr;TIM_TimeBaseInitStuct.TIM_Prescaler=psc;TIM_TimeBaseInit(TIM4, &TIM_TimeBaseInitStuct);TIM_OCInitStuct.TIM_OCMode = TIM_OCMode_PWM2; TIM_OCInitStuct.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStuct.TIM_Pulse = 0; TIM_OCInitStuct.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OC3Init(TIM4, &TIM_OCInitStuct);  TIM_OC4Init(TIM4, &TIM_OCInitStuct);  TIM_CtrlPWMOutputs(TIM4,ENABLE);  TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);  TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable); TIM_Cmd(TIM4, ENABLE);
}void car_run(unsigned char ucChannel,signed char cSpeed)
{short PWM; PWM = 7201 - fabs(cSpeed)*72;switch(ucChannel){case 0://右轮TIM_SetCompare3(TIM4,PWM);if (cSpeed>0) GPIO_ResetBits(GPIOA,GPIO_Pin_4);else if(cSpeed<0) GPIO_SetBits(GPIOA,GPIO_Pin_4);     break;case 1://左轮TIM_SetCompare4(TIM4,PWM); if (cSpeed>0) GPIO_SetBits(GPIOB,GPIO_Pin_7);else if (cSpeed<0)GPIO_ResetBits(GPIOB,GPIO_Pin_7);break;            }
}void Run_Go(signed char speed,int time)  //前进函数
{signed char f_speed = - speed;car_run(1,f_speed);car_run(0,speed);delay_ms(time);
}void Run_stop(int time) //刹车函数
{car_run(1,0);car_run(0,0);GPIO_ResetBits(GPIOA,GPIO_Pin_4);;GPIO_ResetBits(GPIOB,GPIO_Pin_7);;delay_ms(time);
}void Run_left(signed char speed,int time) //左转
{car_run(1,0);     car_run(0,speed);    delay_ms(time);
}
void Run_Spin_left(signed char speed,int time) //左旋转
{signed char u_speed = 100 - speed; car_run(1,speed);  car_run(0,u_speed);          delay_ms(time);                 }
void Run_right(signed char speed,int time)  //右转
{signed char f_speed = - speed;car_run(1,f_speed);   car_run(0,0);                delay_ms(time);
}
void Run_Spin_right(signed char speed,int time) //右旋转
{signed char u_speed = 100 - speed;signed char f_speed = - speed;car_run(1,-u_speed);   car_run(0,f_speed);           delay_ms(time);
}
void Run_back(signed char speed,int time) //后退
{signed char u_speed = 100- speed;signed char f_speed = - u_speed;car_run(1,u_speed);car_run(0,f_speed);delay_ms(time);
}

超声波检测距离的相关代码：

#include "bsp_hc.h"
#include "delay.h"
#define TRIG_PORT      GPIOC
#define ECHO_PORT      GPIOC
#define TRIG_PIN       GPIO_Pin_0
#define ECHO_PIN       GPIO_Pin_1float UltrasonicWave_Distance;
void UltrasonicWave_Configuration(void)
{GPIO_InitTypeDef GPIO_InitStructure;   EXTI_InitTypeDef EXTI_InitStructure;NVIC_InitTypeDef NVIC_InitStructure;RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC|RCC_APB2Periph_AFIO, ENABLE);GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;                   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;           GPIO_Init(GPIOC, &GPIO_InitStructure);       GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;                   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;        GPIO_Init(GPIOC,&GPIO_InitStructure);              GPIO_EXTILineConfig(GPIO_PortSourceGPIOC,GPIO_PinSource1);EXTI_InitStructure.EXTI_Line = EXTI_Line1;EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;   EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;EXTI_InitStructure.EXTI_LineCmd = ENABLE;EXTI_Init(&EXTI_InitStructure);                                NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQn;                NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;              NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;                      NVIC_Init(&NVIC_InitStructure);
}void EXTI1_IRQHandler(void)
{delay_us(10);                           if(EXTI_GetITStatus(EXTI_Line1) != RESET){TIM_SetCounter(TIM2,0);TIM_Cmd(TIM2, ENABLE);                                      while(GPIO_ReadInputDataBit(GPIOC,ECHO_PIN));             TIM_Cmd(TIM2, DISABLE);                                            UltrasonicWave_Distance=TIM_GetCounter(TIM2)*5*34/200.0;           EXTI_ClearITPendingBit(EXTI_Line1); }
}
void Timerx_Init(uint16_t arr,uint16_t psc)
{TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;NVIC_InitTypeDef NVIC_InitStructure;RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);TIM_TimeBaseStructure.TIM_Period = 5000;TIM_TimeBaseStructure.TIM_Prescaler =(7200-1); TIM_TimeBaseStructure.TIM_ClockDivision = 0; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); TIM_ITConfig(TIM2,TIM_IT_Update|TIM_IT_Trigger,ENABLE);NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure);  }void TIM2_IRQHandler(void)
{if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) {TIM_ClearITPendingBit(TIM2, TIM_IT_Update  ); }
}int UltrasonicWave_StartMeasure(void)
{int temp;GPIO_SetBits(TRIG_PORT,TRIG_PIN);           delay_us(20);                         GPIO_ResetBits(TRIG_PORT,TRIG_PIN);temp = UltrasonicWave_Distance*10;return temp;
}

舵机云台的相关代码：

#include "bsp_duoji.h"void TIM5_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_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStructure);TIM_TimeBaseStructure.TIM_Period = arr;TIM_TimeBaseStructure.TIM_Prescaler =psc;TIM_TimeBaseStructure.TIM_ClockDivision = 0;TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure); TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;TIM_OCInitStructure.TIM_Pulse = 0;TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;TIM_OC1Init(TIM5, &TIM_OCInitStructure);TIM_CtrlPWMOutputs(TIM5,ENABLE);  TIM_OC1PreloadConfig(TIM5, TIM_OCPreload_Enable); TIM_OC2Init(TIM5, &TIM_OCInitStructure);TIM_ARRPreloadConfig(TIM5, ENABLE); TIM_Cmd(TIM5, ENABLE);
}

最后是主函数：

#include "stm32f10x.h"
#include "bsp_motor.h"
#include "bsp_duoji.h"
#include "bsp_hc.h"
#include "delay.h"void duojizhuantou(float angle)
{angle=(u16)(50.0*angle/9.0+249.0);TIM_SetCompare1(TIM5,angle);
}int front_detection()
{duojizhuantou(90);delay_ms(100);return UltrasonicWave_StartMeasure();
}
int left_detection()
{duojizhuantou(175);delay_ms(300);return UltrasonicWave_StartMeasure();
}
int right_detection()
{duojizhuantou(5);delay_ms(300);return UltrasonicWave_StartMeasure();
}int main(void)
{Timerx_Init(4999,7199);   HC_GPIO();              TIM4_PWM_Motor(7199,0);TIM5_PWM_Init(9999,143); while(1){        if(front_detection()<60 && front_detection()>0) {Run_stop(500);       Run_back(60,500);   Run_stop(1000);         left_detection();delay_ms(500);right_detection();delay_ms(500);if((left_detection() < 60 ) &&( right_detection() < 60 )){Run_Spin_left(60,1000);}             else if(left_detection() > right_detection()){Run_left(60,1000);Run_stop(500);}  else{Run_right(60,1000);Run_stop(500);                  }                           }   else{Run_Go(60,10);}}}

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