基于STM32單片機小車三路循跡代碼

ID:1089297 · 發(fā)表于 2023-7-22 11:27

#include "stm32f10x.h"                // Device header
#include "PWM.h"
#include "delay.h"
#include "Motor.h"
#include "RedRay.h"

//循跡，通過判斷三個光電對管的狀態(tài)來控制LED燈
void SearchRun(void)
{
if(SEARCH_M_IO == BLACK_AREA && SEARCH_L_IO == BLACK_AREA && SEARCH_R_IO == BLACK_AREA )
{
      if(SEARCH_M_IO == BLACK_AREA && SEARCH_L_IO == BLACK_AREA && SEARCH_R_IO == BLACK_AREA )
      {
      delay(10);
      Motor_R_SetSpeed(40);
      Motor_L_SetSpeed2(40);
      }
}

   else if(SEARCH_L_IO == BLACK_AREA )
{
      Motor_R_SetSpeed(60);
      Motor_L_SetSpeed2(40);
}

   else if(SEARCH_R_IO == BLACK_AREA )
{
      Motor_R_SetSpeed(40);
      Motor_L_SetSpeed2(60);
}

}

int main()
{

Motor_Init();
while(1)

{
      SearchRun();
}

}

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Keil代碼:

代碼.7z (180.6 KB, 下載次數(shù): 12)

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基于STM32單片機小車三路循跡代碼

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