stm32智能小車超聲波避障實(shí)驗(yàn)(有舵機(jī))源碼

ID:297748 · 發(fā)表于 2018-10-24 21:08

這是一個(gè)stm32小車的避障程序，親測(cè)可行，歡迎大家下載

單片機(jī)源程序如下:

#include "stm32f10x.h"
#include "delay.h"
#include "motor.h"
#include "keysacn.h"
#include "IRSEARCH.h"
#include "IRAvoid.h"
#include "usart.h"
#include "UltrasonicWave.h"
#include "timer.h"
#include "Server.h"
// 超聲波轉(zhuǎn)頭函數(shù)
int front_detection()
{
// ZYSTM32_brake(0);
SetJointAngle(90);
delay_ms(100);
return UltrasonicWave_StartMeasure();
}
int left_detection()
{
// ZYSTM32_brake(0);
SetJointAngle(175);
delay_ms(300);
return UltrasonicWave_StartMeasure();
}
int right_detection()
{
// ZYSTM32_brake(0);
SetJointAngle(5);
delay_ms(300);
return UltrasonicWave_StartMeasure();
}
//extern int U_temp;
/*
void ZYSTM32_run(int speed,int time); //前進(jìn)函數(shù)
void ZYSTM32_brake(int time); //剎車函數(shù)
void ZYSTM32_Left(int speed,int time); //左轉(zhuǎn)函數(shù)
void ZYSTM32_Spin_Left(int speed,int time); //左旋轉(zhuǎn)函數(shù)
void ZYSTM32_Right(int speed,int time); //右轉(zhuǎn)函數(shù)
void ZYSTM32_Spin_Right(int speed,int time);//右旋轉(zhuǎn)函數(shù)
void ZYSTM32_back(int speed,int time); //后退函數(shù)
*/
int main(void)
{
int Q_temp,L_temp,R_temp;
delay_init();
KEY_Init();
IRSearchInit();
IRAvoidInit();
Timerx_Init(5000,7199); //10Khz的計(jì)數(shù)頻率，計(jì)數(shù)到5000為500ms
UltrasonicWave_Configuration(); //對(duì)超聲波模塊初始化
uart_init(115200);
TIM4_PWM_Init(7199,0); //初始化PWM
TIM5_PWM_Init(9999,143); //不分頻，PWM頻率=72*10^6/(9999+1)/(143+1)=50Hz
ZYSTM32_brake(500);
keysacn();
while(1)
{
// Q_temp = front_detection();
// printf("測(cè)到的距離值為：%d\n",Q_temp);
Q_temp = front_detection();
if(Q_temp<60 && Q_temp>0) //測(cè)量距離值
{
ZYSTM32_brake(500);
ZYSTM32_back(60,500);
ZYSTM32_brake(1000);
L_temp=left_detection();//測(cè)量左邊障礙物的距離值
delay_ms(500);
R_temp=right_detection();//測(cè)量右邊障礙物的距離值
delay_ms(500);
if((L_temp < 60 ) &&( R_temp < 60 ))//當(dāng)左右兩側(cè)均有障礙物靠的比較近
{
ZYSTM32_Spin_Left(60,500);
}
else if(L_temp > R_temp)
{
ZYSTM32_Left(60,700);
ZYSTM32_brake(500);
}
else
{
ZYSTM32_Right(60,700);
ZYSTM32_brake(500);
}
}
else
{
ZYSTM32_run(60,10);
}
}
}

復(fù)制代碼

所有資料51hei提供下載:

stm32智能小車超聲波避障實(shí)驗(yàn)(有舵機(jī)).rar (338.1 KB, 下載次數(shù): 163)

ID:423055 · 發(fā)表于 2018-11-8 16:02

不錯(cuò)的資源

ID:1022994 · 發(fā)表于 2022-10-23 10:33

有原理圖嗎

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stm32智能小車超聲波避障實(shí)驗(yàn)(有舵機(jī))源碼

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