小车四驱循迹代码 STM32C8T6 L298N

以下是一个简单的四驱小车循迹代码示例，使用STM32C8T6微控制器和L298N驱动模块。

#include "stm32f10x.h"

GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;

// 微调这些常量以适应你的传感器布局
#define SENSOR_THRESHOLD 1000
#define SENSOR_COUNT 5

// 这些是传感器引脚
#define SENSOR_PIN_1 GPIO_Pin_0
#define SENSOR_PIN_2 GPIO_Pin_1
#define SENSOR_PIN_3 GPIO_Pin_2
#define SENSOR_PIN_4 GPIO_Pin_3
#define SENSOR_PIN_5 GPIO_Pin_4

// 这些是电机驱动引脚
#define MOTOR_PIN_1A GPIO_Pin_0
#define MOTOR_PIN_1B GPIO_Pin_1
#define MOTOR_PIN_2A GPIO_Pin_2
#define MOTOR_PIN_2B GPIO_Pin_3
#define MOTOR_PIN_3A GPIO_Pin_4
#define MOTOR_PIN_3B GPIO_Pin_5
#define MOTOR_PIN_4A GPIO_Pin_6
#define MOTOR_PIN_4B GPIO_Pin_7

// 初始化传感器引脚
void initSensorPins() {
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
    
    GPIO_InitStructure.GPIO_Pin = SENSOR_PIN_1 | SENSOR_PIN_2 | SENSOR_PIN_3 | SENSOR_PIN_4 | SENSOR_PIN_5;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
}

// 初始化电机引脚
void initMotorPins() {
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
    
    GPIO_InitStructure.GPIO_Pin = MOTOR_PIN_1A | MOTOR_PIN_1B | MOTOR_PIN_2A | MOTOR_PIN_2B | MOTOR_PIN_3A | MOTOR_PIN_3B | MOTOR_PIN_4A | MOTOR_PIN_4B;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_Init(GPIOB, &GPIO_InitStructure);
}

// 初始化定时器用于电机控制
void initPWM() {
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
    
    TIM_DeInit(TIM3);
    TIM_TimeBaseStructure.TIM_Period = 1000 - 1;
    TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
    TIM_Cmd(TIM3, ENABLE);
    
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    
    TIM_OC1Init(TIM3, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
    TIM_OC2Init(TIM3, &TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
    TIM_OC3Init(TIM3, &TIM_OCInitStructure);
    TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
    TIM_OC4Init(TIM3, &TIM_OCInitStructure);
    TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
}

// 控制电机转动
void setMotorSpeed(int motor, int speed) {
    switch (motor) {
        case 1:
            TIM3->CCR1 = speed;
            break;
        case 2:
            TIM3->CCR2 = speed;
            break;
        case 3:
            TIM3->CCR3 = speed;
            break;
        case 4:
            TIM3->CCR4 = speed;
            break;
    }
}

// 读取传感器数据
int readSensors() {
    int sensorData = 0;
    
    if (GPIO_ReadInputDataBit(GPIOA, SENSOR_PIN_1) == Bit_RESET) {
        sensorData |= 1 << 4;
    }
    if (GPIO_ReadInputDataBit(GPIOA, SENSOR_PIN_2) == Bit_RESET) {
        sensorData |= 1 << 3;
    }
    if (GPIO_ReadInputDataBit(GPIOA, SENSOR_PIN_3) == Bit_RESET) {
        sensorData |= 1 << 2;
    }
    if (GPIO_ReadInputDataBit(GPIOA, SENSOR_PIN_4) == Bit_RESET) {
        sensorData |= 1 << 1;
    }
    if (GPIO_ReadInputDataBit(GPIOA, SENSOR_PIN_5) == Bit_RESET) {
        sensorData |= 1;
    }
    
    return sensorData;
}

// 循迹控制
void trackLine() {
    int sensorData = readSensors();
    
    if (sensorData == 0b11111) {
        // 直线，前进
        setMotorSpeed(1, 500); // 电机1前进
        setMotorSpeed(2, 500); // 电机2前进
        setMotorSpeed(3, 0); // 电机3停止
        setMotorSpeed(4, 0); // 电机4停止
    } else if (sensorData == 0b01111) {
        // 偏左，左转
        setMotorSpeed(1, 300); // 电机1前进
        setMotorSpeed(2, 500); // 电机2前进
        setMotorSpeed(3, 500); // 电机3后退
        setMotorSpeed(4, 0); // 电机4停止
    } else if (sensorData == 0b11110) {
        // 偏右，右转
        setMotorSpeed(1, 500); // 电机1前进
        setMotorSpeed(2, 300); // 电机2前进
        setMotorSpeed(3, 0); // 电机3停止
        setMotorSpeed(4, 500); // 电机4前进
    } else if (sensorData == 0b11101) {
        // 严重偏左，左转
        setMotorSpeed(1, 0); // 电机1停止
        setMotorSpeed(2, 500); // 电机2前进
        setMotorSpeed(3, 500); // 电机3后退
        setMotorSpeed(4, 0); // 电机4停止
    } else if (sensorData == 0b10111) {
        // 严重偏右，右转
        setMotorSpeed(1, 500); // 电机1前进
        setMotorSpeed(2, 0); // 电机2停止
        setMotorSpeed(3, 0); // 电机3停止
        setMotorSpeed(4, 500); // 电机4前进
    } else {
        // 其他情况，停止
        setMotorSpeed(1, 0); // 电机1停止
        setMotorSpeed(2, 0); // 电机2停止
        setMotorSpeed(3, 0); // 电机3停止
        setMotorSpeed(4, 0); // 电机4停止
    }
}

int main(void) {
    initSensorPins();
    initMotorPins();
    initPWM();
    
    while (1) {
        trackLine();
    }
}

请注意，此代码仅为示例，具体的引脚和配置可能需要根据您的硬件设置进行微调。同时，此代码仅实现了基本的循迹功能，您可能需要根据实际需求进行进一步的功能扩展