stm32 小车循迹

ID:240128 · 发表于 2017-10-17 08:12

#include "stm32f10x.h"
#include "interface.h"
#include "LCD1602.h"
#include "IRCtrol.h"
#include "motor.h"
#include "uart.h"

unsigned int speed_count=0;
char front_left_speed_duty=SPEED_DUTY;
char front_right_speed_duty=SPEED_DUTY;
char behind_left_speed_duty=SPEED_DUTY;
char behind_right_speed_duty=SPEED_DUTY;
unsigned char tick_5ms = 0;
unsigned char tick_1ms = 0;
unsigned char tick_200ms = 0;
char ctrl_comm = COMM_STOP;
char ctrl_comm_last = COMM_STOP;
unsigned char continue_time=0;
unsigned char bt_rec_flag=0;

void SearchRun(void)
{

if(SEARCH_M_IO == BLACK_AREA && SEARCH_L_IO == BLACK_AREA && SEARCH_R_IO == BLACK_AREA)
{
  ctrl_comm = COMM_UP;
  return;
}

if(SEARCH_R_IO == BLACK_AREA)
{
  ctrl_comm = COMM_RIGHT;
}
else if(SEARCH_L_IO == BLACK_AREA)
{
  ctrl_comm = COMM_LEFT;
}
else if(SEARCH_M_IO == BLACK_AREA)
{
  ctrl_comm = COMM_UP;
}
}

int main(void)
{
delay_init();
GPIOCLKInit();
UserLEDInit();
LCD1602Init();
//IRCtrolInit();
TIM2_Init();
MotorInit();
ServoInit();

RedRayInit();
//USART3Conf(9600);
while(1)
{
if(tick_5ms >= 5)
  {
tick_5ms = 0;
tick_200ms++;
if(tick_200ms >= 40)
{
tick_200ms = 0;
LEDToggle(LED_PIN);
}
// continue_time--;
// if(continue_time == 0)
// {
// continue_time = 1;
// CarStop();
// }
//do something
SearchRun();
if(ctrl_comm_last != ctrl_comm)
{
ctrl_comm_last = ctrl_comm;
switch(ctrl_comm)
{
   case COMM_UP: CarGo();break;
   case COMM_DOWN:  CarBack();break;
   case COMM_LEFT:  CarLeft();break;
   case COMM_RIGHT: CarRight();break;
   case COMM_STOP:  CarStop();break;
   default : break;
}
Delayms(10);
LCD1602WriteCommand(ctrl_comm);
}
  }

}
}

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