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紅外循跡模塊
stm32mini版做的循跡小車，讀電平的口分別是pa5，pa6，pa7.請論壇各位兄弟多多指教！如果有疑問也可以加QQ：2910202136.感謝！
單片機源程序如下:
- #include "stm32f10x.h"
- #include "led.h"
- #include "light.h"
- #include "pwm.h"
- #include "delay.h"
- #include "motor.h"
- int main(void)
- {
- LED_Init(); //led初始化
- LIGHT_Init(); //巡線模塊初始化
- TIM3_PWM_Init(799,0);
- delay_init();
- while(1)
- {
- if(readfrontleft1==WHITE_AREA&&readfrontleft2==WHITE_AREA&&readfrontleft3==WHITE_AREA)//三路白1
- {
- CarGo();
- delay_ms(100);
- CarStop();
- }
- else if(readfrontleft1==BLACK_AREA&&readfrontleft2==WHITE_AREA&&readfrontleft3==BLACK_AREA)//中間白，左右黑2
- {
- CarGo();
- delay_ms(100);
- CarStop();
- }
- else if(readfrontleft2==WHITE_AREA&&readfrontleft1==WHITE_AREA&&readfrontleft3==BLACK_AREA)//左路中路白右路黑3
- {
- CarRight();
- delay_ms(100);
- CarStop();
- }
- else if(readfrontleft1==WHITE_AREA&&readfrontleft2==BLACK_AREA&&readfrontleft3==BLACK_AREA)//左路白右路中路黑4
- {
- CarRight();
- delay_ms(100);
- CarStop();
- }
- else if(readfrontleft1==BLACK_AREA&&readfrontleft2==WHITE_AREA&&readfrontleft3==WHITE_AREA)//左路黑中右白
- {
- CarLeft();
- delay_ms(100);
- CarStop();
- }
- else if(readfrontleft1==BLACK_AREA&&readfrontleft2==BLACK_AREA&&readfrontleft3==WHITE_AREA)//左路中路黑右路白
- {
- CarLeft();
- delay_ms(100);
- CarStop();
- }
- else if(readfrontleft1==BLACK_AREA&&readfrontleft2==BLACK_AREA&&readfrontleft3==WHITE_AREA)//全黑
- {
- CarStop();
-
- }
- }
- }
所有資料51hei提供下載:
循跡部分.7z
(187.14 KB, 下載次數(shù): 81)
2018-12-29 02:55 上傳
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