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功能說明圖
效果圖
單片機源程序如下:- #include "IRSEARCH.h"
- #include "delay.h"
- #include "motor.h"
- #include "stm32f10x.h" // Device header
- char ctrl_comm = COMM_STOP;//控制指令
- char ctrl_comm_last = COMM_STOP;//上一次的指令
- void IRSearchInit(void)
- {
- GPIO_InitTypeDef GPIO_InitStructure;
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB , ENABLE);
-
- GPIO_InitStructure.GPIO_Pin = SEARCH_R_PIN;//配置使能GPIO管腳
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//配置GPIO模式,輸入上拉
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//配置GPIO端口速度
- GPIO_Init(SEARCH_R_GPIO , &GPIO_InitStructure);
-
- GPIO_InitStructure.GPIO_Pin = SEARCH_L_PIN;//配置使能GPIO管腳
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//配置GPIO模式,輸入上拉
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//配置GPIO端口速度
- GPIO_Init(SEARCH_L_GPIO , &GPIO_InitStructure);
- }
- void SearchRun(void)
- {
- if(SEARCH_L_IO == WHITE_AREA && SEARCH_R_IO == WHITE_AREA)
- ctrl_comm = COMM_UP;
- else if (SEARCH_L_IO == BLACK_AREA && SEARCH_R_IO == WHITE_AREA)
- ctrl_comm = COMM_LEFT;
- else if (SEARCH_R_IO == BLACK_AREA & SEARCH_L_IO == WHITE_AREA)
- ctrl_comm = COMM_RIGHT;
- else ctrl_comm = COMM_STOP;
-
- if(ctrl_comm_last != ctrl_comm)
- {
- ctrl_comm_last = ctrl_comm;
- switch(ctrl_comm)
- {
- case COMM_UP: ZYSTM32_run(50,10);break;
- case COMM_DOWN: ZYSTM32_back(50,10);break;
- case COMM_LEFT: ZYSTM32_Left(50,10);break;
- case COMM_RIGHT: ZYSTM32_Right(50,10);break;
- case COMM_STOP: ZYSTM32_brake(10);break;
- default : break;
- }
- }
- }
全部資料51hei下載地址：
ZYSTM32-A0 智能小車紅外避障實驗（帶后退掉頭避障）.7z
(189.96 KB, 下載次數: 52)
2020-2-23 14:18 上傳
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