STM32小车避障程序代码

demon

1. /*
   
2. u16 LeftDistance, RightDistance;
   
3. ili9320_DisplayStringLine(Line12, " Measure Distance ",Blue,Green);
   
4. AODistance = Measure_Start();
   
5. if((AODistance > 20) && (car_state == 0 )) //距离障碍大于25cm
   
6. {
   
7. car_state = 1; //为1表示小车直行
   
8. Send_Motor_Data[0] = 0x08; //小车直行
   
9. Send_Motor_Data[1] = AO_Speed;
   
10. Transmit_Data(0xFB);
    
11. }
    
12. if(AODistance <= 20 ) //距离障碍小于等于25cm
    
13. {
    
14. car_state = 0; //为0表示小车即将进入非直线状态
    
15. Send_Motor_Data[0] = 0x10; //停车
    
16. Transmit_Data(0xFB);
    
17. Steer_Corner(90, 0); //舵机左转到90度
    
18. Delay_ms(1000);
    
19. LeftDistance = Measure_Start(); //测量左方距离
    
20. Steer_Corner(90, 1); //舵机右转到90度
    
21. Delay_ms(1000);
    
22. RightDistance = Measure_Start(); //测量右方距离
    
23. Delay_ms(1000);
    
24. if(LeftDistance > 40 )
    
25. {
    
26. Send_Motor_Data[0] = 0x41;
    
27. Send_Motor_Data[1] = 0x5A; //左转90度
    
28. Transmit_Data(0xFB);
    
29. Delay_ms(500);
    
30. Delay_ms(1000); //等待小车转好弯
    
31. Send_Motor_Data[0] = 0x08; //小车直行
    
32. Send_Motor_Data[1] = AO_Speed;
    
33. Transmit_Data(0xFB);
    
34. while(Measure_Start() < 40)
    
35. {
    
36. Steer_Corner(0, 1);
    
37. Delay_ms(700);
    
38. if(Measure_Start() < 20) break;
    
39. Steer_Corner(90, 1);
    
40. Delay_ms(700);
    
41. }
    
42. if(Measure_Start() < 20) //没有路可走
    
43. {
    
44. LeftNoWay = 1; //左方没有路可走
    
45. Send_Motor_Data[0] = 0x41; //小车左转180度
    
46. Send_Motor_Data[1] = 0xB4;
    
47. Transmit_Data(0xFB);
    
48. Steer_Corner(90, 0); //舵机左转90度
    
49. Delay_ms(1000);
    
50. Delay_ms(1000);
    
51. }
    
52. if(Measure_Start() >= 40) //找到了路可以过去
    
53. {
    
54. Steer_Corner(0, 1);
    
55. Delay_ms(500); //等待一段时间直至间距可容小车通过
    
56. Send_Motor_Data[0] = 0x61; //右转90度
    
57. Send_Motor_Data[1] = 0x5A;
    
58. Transmit_Data(0xFB);
    
59. Delay_ms(1000);
    
60. Delay_ms(500);
    
61. }
    
62. }
    
63. if(LeftDistance <= 40)
    
64. {
    
65. LeftNoWay = 1; //小车左方没有路
    
66. Send_Motor_Data[0] = 0x61; //小车右转90度
    
67. Send_Motor_Data[1] = 0x5A;
    
68. Transmit_Data(0xFB);
    
69. Steer_Corner(90, 0); //舵机左转90度
    
70. Delay_ms(500);
    
71. Delay_ms(1000);
    
72. }
    
73. if((RightDistance > 40) && (LeftNoWay == 1)) //小车向右运动
    
74. {
    
75. Send_Motor_Data[0] = 0x08; //小车直行
    
76. Send_Motor_Data[1] = AO_Speed;
    
77. Transmit_Data(0xFB);
    
78. while(Measure_Start() < 40)
    
79. {
    
80. Steer_Corner(0, 1);
    
81. Delay_ms(700);
    
82. if(Measure_Start() < 20) break;
    
83. Steer_Corner(90, 0);
    
84. Delay_ms(700);
    
85. }
    
86. if(Measure_Start() < 20 ) //没有路可走 此时也说明这是一个没有间隙的障碍，不可过去，停车
    
87. {
    
88. Send_Motor_Data[0] = 0x10; //停车
    
89. Transmit_Data(0xFB);
    
90. TIM_Cmd(TIM2, DISABLE); //关闭定时器
    
91. return; //返回主函数
    
92. }
    
93. if(Measure_Start() >= 40) //找到了路可以过去
    
94. {
    
95. Steer_Corner(0, 1); //舵机归位
    
96. Delay_ms(500); //等待一段时间直至间距可容小车通过
    
97. Send_Motor_Data[0] = 0x41; //左转90度
    
98. Send_Motor_Data[1] = 0x5A;
    
99. Transmit_Data(0xFB);
    
100. Delay_ms(500);
     
101. Delay_ms(1000);
     
102. }
     
103. }
     
104. if((RightDistance <= 40) && (LeftNoWay == 1) ) //无路可走
     
105. {
     
106. Send_Motor_Data[0] = 0x10; //停车
     
107. Transmit_Data(0xFB);
     
108. TIM_Cmd(TIM2, DISABLE); //关闭定时器
     
109. return; //返回主函数
     
110. }
     
111. } */
     

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qjh690623

可以用使stm32参加飞思卡尔比赛？