智能车超声波避障源码

梦帝呱呱 · 2018-06-29T06:50:55+00:00

基于stm32f1的智能小车超声波避障源码，仅供参考0 r. o& n+ T3 M; l #include "stm32f10x.h" 3 m# k: m" t$ }6 a# I4 n D#include "delay.h"/ b P9 _& ?7 E2 F7 q3 z2 J #include "motor.h" ; b0 i, \% T: F( h/ x; s#include "keysacn.h" ; F$ y* I3 `' l1 M2 U* H#include "IRSEARCH.h"- D/ {3 s5 n9 G5 y$ x #include "IRAvoid.h" 1 Z2 K, Z7 e) I; s! d1 i# K#include "usart.h" . W4 b0 {6 X H2 b) ?#include "UltrasonicWave.h"9 |2 n* b9 G; ?4 w( R) k( S6 v% R: h* | #include "timer.h"$ M1 ^0 p# h ]. } #include "Server.h"% A- W% g* V, @0 j7 w Q% G* k$ }% J7 Z // 超声波转头函数0 |" v! g) u" O) e1 @* r int front_detection()+ C" F8 i' U9 \% d( U7 Y { , j/ d; M9 W, ?+ m% ?: {+ E- ~3 F! T) b8 Z+ q6 @ // ZYSTM32_brake(0);& V& r6 n, ?% j$ q* Y8 J! P SetJointAngle(90); ( p8 M" K# V% K- }8 { delay_ms(100);- S, v+ @5 v3 r/ X5 k, J& b. i return UltrasonicWave_StartMeasure(); 4 a) @' e1 x/ F- v, _/ v}, y4 W( h/ F3 m* K( \ int left_detection()1 w; i( Q5 X- U: p3 E8 x0 Z; t6 s { * a5 L4 ~/ }: u& U+ v$ i ; J3 ~* k4 i- Y6 @// ZYSTM32_brake(0); : \* E7 j4 ]3 q' i0 C SetJointAngle(175); 8 B# E3 x& C* o+ x delay_ms(300);5 n! d" h8 F6 j2 U' _5 y- a; ` return UltrasonicWave_StartMeasure();5 L) t! d! n% Y4 D: l7 f } : u/ t5 y& D/ x+ g/ gint right_detection()1 g0 b3 W9 g& Q; c1 i* A$ a2 r { ?# K$ E4 o% |0 C: |1 ]7 u9 r+ ]4 C; G4 e) H( d) j // ZYSTM32_brake(0);# w& d) v! }, G; W SetJointAngle(5);' S- |3 h2 Q$ |; Y$ L6 `+ S delay_ms(300);7 u* u& e' p- ?) l return UltrasonicWave_StartMeasure(); 6 d- H) S2 I s} 4 E# l2 O+ N. o7 `5 j//extern int U_temp; 8 b4 w* z; e, X/ `/ L0 P H/*) Z% O+ O: U2 x- b) P/ h void ZYSTM32_run(int speed,int time); //前进函数 ; {7 w4 h6 p$ s7 u+ J6 I& tvoid ZYSTM32_brake(int time); //刹车函数 : G9 [) j8 r% ^4 H8 E: Z$ Zvoid ZYSTM32_Left(int speed,int time); //左转函数+ }7 z; q# @* y$ q, _' Z void ZYSTM32_Spin_Left(int speed,int time); //左旋转函数1 \1 z( c" o" J+ _( C# _ void ZYSTM32_Right(int speed,int time); //右转函数, T" M' q3 M: B5 b$ ` void ZYSTM32_Spin_Right(int speed,int time);//右旋转函数1 Z0 S5 g |0 h( m, p# L void ZYSTM32_back(int speed,int time); //后退函数 ; l& c0 _# L& {4 L; ~' M*/# s- A: Z% L( c+ z. U$ F/ _3 y * o" o+ n! ]: K4 Z; z J. @ int main(void)- J& B: B8 X3 J) @) E { 1 s$ h) b$ D9 x0 X* @+ e" L int Q_temp,L_temp,R_temp; ' g; J" K8 @5 o delay_init();9 H3 a$ n. Q4 ~# e9 w KEY_Init(); 0 a7 b- J3 P# r1 r; @! i5 `3 T IRSearchInit(); ' Z* f5 j L7 p' F2 P, G IRAvoidInit();1 o6 e! c# O+ P- _ b8 U3 Y Timerx_Init(5000,7199); //10Khz的计数频率，计数到5000为500ms & A1 p$ H6 E8 K1 I+ s- N4 r- A7 k0 A: Y. Z UltrasonicWave_Configuration(); //对超声波模块初始化3 B4 Y: R. ~1 K8 e) q4 X uart_init(115200); ( b/ @+ P* h& l8 ]4 R/ E TIM4_PWM_Init(7199,0); //初始化PWM6 l: T" Y7 w/ D1 r TIM5_PWM_Init(9999,143); //不分频，PWM频率=72*10^6/(9999+1)/(143+1)=50Hz ! @4 f5 J" F3 I1 u7 {( D ZYSTM32_brake(500); 2 u" K% ^" `7 b% s6 O keysacn(); : l1 N0 G) C% a0 { while(1)" c; a9 o; d! L) V- A& g { / `6 ~5 Q5 n9 ^ // Q_temp = front_detection();+ f ~8 T2 ?- q U // printf("测到的距离值为：%d\n",Q_temp); 9 S8 B$ x" U7 X' d Q_temp = front_detection(); 3 C8 ^- E6 O6 [ b if(Q_temp 0) //测量距离值 3 t, J ^8 H; W {( u/ R# w. a& _: }/ P0 [" i. l ZYSTM32_brake(500); * r/ f- e$ Q9 R. W4 h ZYSTM32_back(60,500); : d# L. r6 K* E% x$ H ZYSTM32_brake(1000); 9 G- @" C8 B0 ^* F) R& N; o " Z5 _2 H6 H; w* F* t" |" k- c' T L_temp=left_detection();//测量左边障碍物的距离值 2 ~' F* H+ b8 j! p delay_ms(500);0 g% x3 Q5 g+ y/ ] r% L R_temp=right_detection();//测量右边障碍物的距离值/ U+ j% s6 G% ^( j- ? delay_ms(500); ' k" S3 F M2 ]. _ # [) E: X4 p* }# c3 [1 \. K if((L_temp R_temp) ; ?0 m0 }2 ~. }; C {' w9 D* I0 m; k ZYSTM32_Left(60,700); 6 `% x. k; k3 K4 `3 n ZYSTM32_brake(500);& Y3 F" s: R3 k# a# W- B) a } 3 J" g7 b4 J: j$ c% @+ f4 v; r2 n else& b, V. i4 w8 A7 G5 y0 R7 f. N { 0 h2 K9 H; [% T& D1 p ZYSTM32_Right(60,700); 2 ]5 V2 H0 t2 J: _ ZYSTM32_brake(500); $ A3 H5 _: X$ b; C& x5 } } 8 D) v# ^5 M3 }9 C5 I4 { } , o j1 d+ k( ^ else , q9 Q8 c! O, R {/ Y2 a3 K% H! \9 [: @" k3 w ZYSTM32_run(60,10); ! `6 @) U% L$ D; C+ P/ n4 Z } * I0 p: o/ p0 N6 d } 9 i( }! M+ Y1 @, R# V. W( W5 E } , U" m- N' o0 ^- _; V @, V1 [- s& d$ n, Z ! V7 J# F9 Y( n( N

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梦帝呱呱发布时间：2018-6-29 14:50

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基于stm32f1的智能小车超声波避障源码，仅供参考
#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"

// 超声波转头函数
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);    //前进函数
void ZYSTM32_brake(int time);             //刹车函数
void ZYSTM32_Left(int speed,int time);    //左转函数
void ZYSTM32_Spin_Left(int speed,int time); //左旋转函数
void ZYSTM32_Right(int speed,int time);    //右转函数
void ZYSTM32_Spin_Right(int speed,int time);//右旋转函数
void ZYSTM32_back(int speed,int time);    //后退函数
*/

int main(void)
{
int Q_temp,L_temp,R_temp;
   delay_init();
   KEY_Init();
   IRSearchInit();
   IRAvoidInit();
Timerx_Init(5000,7199);             //10Khz的计数频率，计数到5000为500ms
   UltrasonicWave_Configuration();       //对超声波模块初始化
   uart_init(115200);
   TIM4_PWM_Init(7199,0);                //初始化PWM
   TIM5_PWM_Init(9999,143);             //不分频，PWM频率=72*10^6/(9999+1)/(143+1)=50Hz
   ZYSTM32_brake(500);
   keysacn();
while(1)
{
// Q_temp = front_detection();
//  printf("测到的距离值为：%d\n",Q_temp);
Q_temp = front_detection();
if(Q_temp<60 && Q_temp>0) //测量距离值
{
ZYSTM32_brake(500);
ZYSTM32_back(60,500);
ZYSTM32_brake(1000);

L_temp=left_detection();//测量左边障碍物的距离值
delay_ms(500);
R_temp=right_detection();//测量右边障碍物的距离值
delay_ms(500);

if((L_temp < 60 ) &&( R_temp < 60 ))//当左右两侧均有障碍物靠的比较近
{
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);
}
}
}