STM32C8T6 L298N 四驱循迹小车代码示例 - Arduino

#include "stm32f10x.h"\n\n// 定义左右电机控制引脚\n#define MOTOR_L1_PIN GPIO_Pin_0\n#define MOTOR_L2_PIN GPIO_Pin_1\n#define MOTOR_R1_PIN GPIO_Pin_2\n#define MOTOR_R2_PIN GPIO_Pin_3\n\n// 定义循迹传感器引脚\n#define TRACK_SENSOR1_PIN GPIO_Pin_4\n#define TRACK_SENSOR2_PIN GPIO_Pin_5\n#define TRACK_SENSOR3_PIN GPIO_Pin_6\n#define TRACK_SENSOR4_PIN GPIO_Pin_7\n\n// 初始化GPIO配置\nvoid GPIO_Configuration(void)\n{\n GPIO_InitTypeDef GPIO_InitStructure;\n\n // 使能GPIO时钟\n RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);\n\n // 配置左右电机引脚为输出模式\n GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;\n GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;\n\n GPIO_InitStructure.GPIO_Pin = MOTOR_L1_PIN | MOTOR_L2_PIN | MOTOR_R1_PIN | MOTOR_R2_PIN;\n GPIO_Init(GPIOA, &GPIO_InitStructure);\n\n // 配置循迹传感器引脚为输入模式\n GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;\n\n GPIO_InitStructure.GPIO_Pin = TRACK_SENSOR1_PIN | TRACK_SENSOR2_PIN | TRACK_SENSOR3_PIN | TRACK_SENSOR4_PIN;\n GPIO_Init(GPIOA, &GPIO_InitStructure);\n}\n\n// 控制小车前进\nvoid CarForward(void)\n{\n GPIO_SetBits(GPIOA, MOTOR_L1_PIN);\n GPIO_ResetBits(GPIOA, MOTOR_L2_PIN);\n GPIO_SetBits(GPIOA, MOTOR_R1_PIN);\n GPIO_ResetBits(GPIOA, MOTOR_R2_PIN);\n}\n\n// 控制小车后退\nvoid CarBackward(void)\n{\n GPIO_ResetBits(GPIOA, MOTOR_L1_PIN);\n GPIO_SetBits(GPIOA, MOTOR_L2_PIN);\n GPIO_ResetBits(GPIOA, MOTOR_R1_PIN);\n GPIO_SetBits(GPIOA, MOTOR_R2_PIN);\n}\n\n// 控制小车左转\nvoid CarLeft(void)\n{\n GPIO_ResetBits(GPIOA, MOTOR_L1_PIN);\n GPIO_SetBits(GPIOA, MOTOR_L2_PIN);\n GPIO_SetBits(GPIOA, MOTOR_R1_PIN);\n GPIO_ResetBits(GPIOA, MOTOR_R2_PIN);\n}\n\n// 控制小车右转\nvoid CarRight(void)\n{\n GPIO_SetBits(GPIOA, MOTOR_L1_PIN);\n GPIO_ResetBits(GPIOA, MOTOR_L2_PIN);\n GPIO_ResetBits(GPIOA, MOTOR_R1_PIN);\n GPIO_SetBits(GPIOA, MOTOR_R2_PIN);\n}\n\n// 控制小车停止\nvoid CarStop(void)\n{\n GPIO_ResetBits(GPIOA, MOTOR_L1_PIN);\n GPIO_ResetBits(GPIOA, MOTOR_L2_PIN);\n GPIO_ResetBits(GPIOA, MOTOR_R1_PIN);\n GPIO_ResetBits(GPIOA, MOTOR_R2_PIN);\n}\n\n// 获取循迹传感器状态\nuint8_t GetTrackSensorStatus(void)\n{\n uint8_t status = 0;\n\n status |= GPIO_ReadInputDataBit(GPIOA, TRACK_SENSOR1_PIN) << 3;\n status |= GPIO_ReadInputDataBit(GPIOA, TRACK_SENSOR2_PIN) << 2;\n status |= GPIO_ReadInputDataBit(GPIOA, TRACK_SENSOR3_PIN) << 1;\n status |= GPIO_ReadInputDataBit(GPIOA, TRACK_SENSOR4_PIN);\n\n return status;\n}\n\nint main(void)\n{\n // 初始化GPIO配置\n GPIO_Configuration();\n\n while (1)\n {\n uint8_t trackStatus = GetTrackSensorStatus();\n\n // 根据循迹传感器状态控制小车运动\n switch (trackStatus)\n {\n case 0b0001: // 左偏\n CarLeft();\n break;\n case 0b0010: // 直行\n CarForward();\n break;\n case 0b0100: // 右偏\n CarRight();\n break;\n case 0b0111: // T字交叉路口\n CarStop();\n break;\n default: // 其他情况停止\n CarStop();\n break;\n }\n }\n}\n\n以上代码通过GPIO控制L298N驱动模块的IN1、IN2、IN3和IN4引脚来控制四个电机的转动方向，根据循迹传感器的状态来控制小车的运动。在main函数中，循环读取循迹传感器状态，并根据状态选择相应的运动方式。具体的运动方式可以根据实际情况进行调整和修改。