• 日期: 2025-01-23
  • 标签: 常规

STM32 小车机械臂控制程序 - 颜色识别与物体放置

本程序使用STM32微控制器实现小车与机械臂的控制，包含颜色识别、物体放置等功能。利用串口通信接收指令，并根据指令控制小车和机械臂完成相应动作。

程序功能：

  • 通过串口接收指令，指令格式为：颜色1, 颜色2, 颜色3, 物体1, 物体2, 物体3，其中颜色和物体分别对应1、2、3三种类型。
  • 小车移动至指定位置。
  • 机械臂识别三种颜色，并根据指令放置物体。

程序流程：

  1. 初始化串口、GPIO等硬件资源。
  2. 接收串口指令。
  3. 解析指令，获取颜色和物体类型信息。
  4. 控制小车移动至指定位置。
  5. 控制机械臂识别颜色并放置物体。

代码示例：

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <string.h>
#include <stdio.h>
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
UART_HandleTypeDef huart3;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_USART3_UART_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART2_UART_Init();
  MX_USART1_UART_Init();
  MX_USART3_UART_Init();
  /* USER CODE BEGIN 2 */
  char message1[]="1,30,30";
  char message2[]="2,30,30";
  char message3[]="4,50,50";
  char message4[]="3,30,30";
  char message5[]="9,4418,30";
  char message6[]="10,4418,30";
  char message7[]="0,30,30";
//分割函数
void splitString(const char* input, char* output[], int* count) {
    *count = strlen(input);
    for (int i = 0; i < *count; i++) {
        output[i] = malloc(2);
        snprintf(output[i], 2, "%c", input[i]);
    }
}

void recognizeColor(uint8_t color, uint8_t expectedColor) {
    while (1) {
        if (color == expectedColor) {
            print(1);
            break;
        } else {
            // 识别程序
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
            HAL_UART_Receive(&huart2, &color, 1, HAL_MAX_DELAY);
        }
    }
}
//第一�?
//小车移动，机械臂初始�?
HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
HAL_Delay(1000);
HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
HAL_Delay(1000);
HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
HAL_Delay(1000);
HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
HAL_Delay(1000);
HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
HAL_Delay(1000);

int main(void) {
    uint8_t receiveData[7];
    uint8_t receiveDatacolor;

    int a, b, c, d, e, f;
    char* ste[7];

    HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    HAL_Delay(1000);
    HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);

    // 接收串口数据
    HAL_UART_Receive(&huart2, receiveData, 7, HAL_MAX_DELAY);

    // 对接收的数据进行分割
    splitString((const char*)receiveData, ste, &f);

    a = atoi(ste[0]);
    b = atoi(ste[1]);
    c = atoi(ste[2]);
    d = atoi(ste[4]);
    e = atoi(ste[5]);
    f = atoi(ste[6]);

    // 第一次识�?
    HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    HAL_UART_Receive(&huart2, &receiveDatacolor, 1, HAL_MAX_DELAY);
    int color = (int)receiveDatacolor;
    recognizeColor(color, a);

    // 第二次识�?
    HAL_Delay(1000);
    HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    HAL_UART_Receive(&huart2, &receiveDatacolor, 1, HAL_MAX_DELAY);
    color = (int)receiveDatacolor;
    recognizeColor(color, b);

    // 第三次识�?
    HAL_Delay(1000);
    HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    HAL_UART_Receive(&huart2, &receiveDatacolor, 1, HAL_MAX_DELAY);
    color = (int)receiveDatacolor;
    recognizeColor(color, c);

    // 按顺序放置物�?
    if (d == 1) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (d == 2) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (d == 3) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    }

    if (e == 1) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (e == 2) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (e == 3) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    }

    if (f == 1) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (f == 2) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (f == 3) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    }
    // 按顺序拿取物�?
    if (d == 1) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (d == 2) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (d == 3) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    }

    if (e == 1) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (e == 2) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (e == 3) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    }

    if (f == 1) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (f == 2) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (f == 3) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    }
    // 按顺序放置物�?
    if (d == 1) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (d == 2) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (d == 3) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    }

    if (e == 1) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (e == 2) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (e == 3) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    }

    if (f == 1) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (f == 2) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    } else if (f == 3) {
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
    }
    //第二�?
    int main(void) {

        // 第一次识�?
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        HAL_UART_Receive(&huart2, &receiveDatacolor, 1, HAL_MAX_DELAY);
        int color = (int)receiveDatacolor;
        recognizeColor(color, a);

        // 第二次识�?
        HAL_Delay(1000);
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        HAL_UART_Receive(&huart2, &receiveDatacolor, 1, HAL_MAX_DELAY);
        color = (int)receiveDatacolor;
        recognizeColor(color, b);

        // 第三次识�?
        HAL_Delay(1000);
        HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        HAL_UART_Receive(&huart2, &receiveDatacolor, 1, HAL_MAX_DELAY);
        color = (int)receiveDatacolor;
        recognizeColor(color, c);

        // 按顺序放置物�?
        if (d == 1) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (d == 2) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (d == 3) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        }

        if (e == 1) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (e == 2) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (e == 3) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        }

        if (f == 1) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (f == 2) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (f == 3) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        }

        // 按顺序拿取物�?
        if (d == 1) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (d == 2) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (d == 3) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        }

        if (e == 1) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (e == 2) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (e == 3) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        }

        if (f == 1) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (f == 2) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (f == 3) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        }
        // 按顺序放置物�?
        if (d == 1) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (d == 2) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (d == 3) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        }

        if (e == 1) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (e == 2) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (e == 3) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        }

        if (f == 1) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (f == 2) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        } else if (f == 3) {
            HAL_UART_Transmit(&huart2, (uint8_t*)message7, strlen(message7), 100);
        }

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief USART1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART1_UART_Init(void)
{

  /* USER CODE BEGIN USART1_Init 0 */

  /* USER CODE END USART1_Init 0 */

  /* USER CODE BEGIN USART1_Init 1 */

  /* USER CODE END USART1_Init 1 */
  huart1.Instance = USART1;
  huart1.Init.BaudRate = 9600;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART1_Init 2 */

  /* USER CODE END USART1_Init 2 */

}

/**
  * @brief USART2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART2_UART_Init(void)
{

  /* USER CODE BEGIN USART2_Init 0 */

  /* USER CODE END USART2_Init 0 */

  /* USER CODE BEGIN USART2_Init 1 */

  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 115200;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}

/**
  * @brief USART3 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART3_UART_Init(void)
{

  /* USER CODE BEGIN USART3_Init 0 */

  /* USER CODE END USART3_Init 0 */

  /* USER CODE BEGIN USART3_Init 1 */

  /* USER CODE END USART3_Init 1 */
  huart3.Instance = USART3;
  huart3.Init.BaudRate = 115200;
  huart3.Init.WordLength = UART_WORDLENGTH_8B;
  huart3.Init.StopBits = UART_STOPBITS_1;
  huart3.Init.Parity = UART_PARITY_NONE;
  huart3.Init.Mode = UART_MODE_TX_RX;
  huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart3.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart3) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART3_Init 2 */

  /* USER CODE END USART3_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

注意：

  • 代码中部分内容可能需要根据实际硬件情况进行修改，例如串口配置、GPIO配置等。
  • 程序中使用了HAL库，需要在项目中配置HAL库。
  • 代码中包含一些注释，可以帮助理解代码的功能和流程。

其他建议：

  • 可以使用更清晰的变量命名，提高代码可读性。
  • 可以添加更多错误处理代码，提高程序的健壮性。
  • 可以将代码模块化，方便维护和扩展。

希望以上信息对您有所帮助！

STM32 小车机械臂控制程序 - 颜色识别与物体放置

原文地址: https://www.cveoy.top/t/topic/hFR 著作权归作者所有。请勿转载和采集!

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