循迹避障智能车系统设计（全套论文+程序）

主程序核心部分如下：

int main()
{
  Sys_Delay_Init(72);               
  Car_GPIO_Config();
  Xunji_GPIO_Config();
  Chaoshengbo_Init();
  timer_Init();
    TIM3_PWM_Init(2000);
  while(1)
  {
        TIM3_PWMoutPA6_Config(1500);
        TIM3_PWMoutPA7_Config(1500);
        Chaoshengbo_ReadJuli();
      if( juli>300)
         { Ctrl();}
        else
         { Stop();}
    }
   }

电机PWM占空比设置核心程序如下：

//TIM3 Channel1 duty cycle = (TIM3_CCR1/ TIM3_ARR)* 100 = 50%
//TIM3 Channel2 duty cycle = (TIM3_CCR2/ TIM3_ARR)* 100 = 37.5%
//TIM3 Channel3 duty cycle = (TIM3_CCR3/ TIM3_ARR)* 100 = 25%
//TIM3 Channel4 duty cycle = (TIM3_CCR4/ TIM3_ARR)* 100 = 12.5%
void TIM3_PWMoutPA6_Config(u16 CCR1_Val)
{
    TIM_OCInitTypeDef  TIM_OCInitStructure;
    /* PWM1 Mode configuration: Channel1 */
  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;        
//配置为PWM模式1
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;   
  TIM_OCInitStructure.TIM_Pulse = CCR1_Val;      
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
   TIM_OC1Init(TIM3, &TIM_OCInitStructure);     
  //使能通道1
  TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
    TIM_ARRPreloadConfig(TIM3, ENABLE);   
  // 使能TIM3重载寄存器ARR
}
void TIM3_PWMoutPA7_Config(u16 CCR2_Val)
{
    TIM_OCInitTypeDef  TIM_OCInitStructure;
    /* PWM1 Mode configuration: Channel2 */
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;        
   //配置为PWM模式1
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_Pulse = CCR2_Val;      
     TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;  
       //当定时器计数值小于CCR1_Val时为高电平
  TIM_OC2Init(TIM3, &TIM_OCInitStructure);      
  //使能通道2
  TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
    TIM_ARRPreloadConfig(TIM3, ENABLE);            
       // 使能TIM3重载寄存器ARR
}
void TIM3_PWMoutPB0_Config(    u16 CCR3_Val)
{
    TIM_OCInitTypeDef  TIM_OCInitStructure;
    /* PWM1 Mode configuration: Channel2 */
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;        
//配置为PWM模式1
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_Pulse = CCR3_Val;      
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;  
//当定时器计数值小于CCR1_Val时为高电平
  TIM_OC3Init(TIM3, &TIM_OCInitStructure);     
//使能通道3
  TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
    TIM_ARRPreloadConfig(TIM3, ENABLE);            
// 使能TIM3重载寄存器ARR
}
void TIM3_PWMoutPB1_Config(u16 CCR4_Val)
{
    TIM_OCInitTypeDef  TIM_OCInitStructure;
    /* PWM1 Mode configuration: Channel2 */
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
//配置为PWM模式1
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_Pulse = CCR4_Val;      
     TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;  
//当定时器计数值小于CCR1_Val时为高电平
  TIM_OC4Init(TIM3, &TIM_OCInitStructure);      
//使能通道4
  TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
    TIM_ARRPreloadConfig(TIM3, ENABLE);   
// 使能TIM3重载寄存器ARR
}

超声波读距核心程序如下：

void Chaoshengbo_ReadJuli()
{
  GPIO_SetBits(TRIG_PORT,TRIG_PIN);
//送>10US的高电平RIG_PORT,TRIG_PIN这两个在define中有
  Delay_1us(20);               
  //延时20US
  GPIO_ResetBits(TRIG_PORT,TRIG_PIN);
     while(!GPIO_ReadInputDataBit(ECHO_PORT,ECHO_PIN));                         //等待高电平
  TIM_Cmd(TIM2,ENABLE);                                                     //开启时钟
  while(GPIO_ReadInputDataBit(ECHO_PORT,ECHO_PIN));                             //等待低电平
  TIM_Cmd(TIM2, DISABLE);                                                     //定时器2失能
  juli=(TIM_GetCounter(TIM2)*5*34/200);                                 
       //计算距离 juli=TIME/(计数频率)*(344/2)m
    TIM_SetCounter(TIM2,0);
}

循迹功能核心程序如下：

void Ctrl()
{
u8 Temp=(u8)(GPIO_ReadInputData(GPIOB)&0xf0);
switch (Temp)
{
    case 0x00:Go();
        break;
    case 0x10:Right();
        break;
    case 0x20:Right();
        break;
    case 0x30:Right();
        break;
    case 0xE0:Right();
        break;
    case 0xD0:Right();
        break;
    case 0x40:Left();
        break;
    case 0x80:Left();
        break;
    case 0xC0:Left();
        break;
        case 0x70:Left();
        break;
        case 0xB0:Left();
        break;
    case 0xF0:Stop();
        break;
    default:Back();
        break;
}
Delay_1ms(100);
}