2021年电赛F题智能小车

#2021年电赛F题智能小车| 来源: 网络整理| 查看: 265

文章目录概要整体架构流程技术细节代码部分小结

概要

基于STM32F4的智能巡线识别小车，巡线采用openmv，识别采用k210

整体架构流程

1.电机选用的是13线的编码电机

2.巡线采用openmv

3.识别采用k210

4.主控为STM32F407ZGT6

技术细节

（1）巡线移动。采用openmv循迹和步进电机的巡线移动方案。（2）识别病房号数字。可采用k210视觉单片机识别。由于追求识别准确率，所以单个数字的数据集有300张。

（3）k210的训练可以在MainHub这个网站上进行yolo2的训练，亲测不错。将训练模型和main.py放进SD卡中就可以运行了.网站链接：Maixhub 模型训练 - Sipeed Wiki

（4）运行openmv的循迹时一定要插一张SD卡，不知道为啥有时代码会跑没！！！

代码部分

main.c

int main(void) { NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); delay_init(168); uart2_init(115200); //K210初始化 uart6_init(115200); //OPemMV初始化 uart_init(115200); //初始化串口UART1 // uart3_init(115200); //蓝牙初始化 LED_Init(); //LED初始化 // infra_init(); //5路灰度初始化 Motor_Init(); //电机初始化 Encoder_TIM_Init(); //编码器初始化 PWM_Init_TIM(83,999); //电机PWM初始化 //84M/84/1000=1000+ Speed_Pid_init(); Pid_Lin_Patrol(); OLED_Init(); //OLED初始化 OLED_Clear(); while(1) { //病房1 if((xinhao==0)&&(number=='1')) { Speed_pid_Init(20.f,20.f); while(1) { find1(); } } //病房2 else if((xinhao==0)&&(number=='2')) { Speed_pid_Init(20.f,20.f); while(1) { find2(); } } else{ Flag_start=1; } //数字3 if((xinhao==0)&&(number=='8'|number=='3'|number=='4'|number=='5'|number=='6'|number=='7')) { Speed_pid_Init(20.f,20.f); if(crossroad == 0 && (L1 + L2 + M + R1 + R2) >=3) //第一个十字路口 { slow(); crossroad++; Flag_Direction='1'; } if(crossroad == 1 && (L1 + L2 + M + R1 + R2) >=3)//经过第二个十字路口判断 { if(Flag_Direction=='0') //3号病房 { while(1) { find3(); } } else if(Flag_Direction=='2') //4号病房 { while(1) { find4(); } } else { crossroad++; // Flag_Direction=1; } } if(crossroad == 2 && (L1 + L2 + M + R1 + R2) >=3)//经过第三个十字路口判断 { if(Flag_Direction=='0') //5 8号病房 { delay_ms(210); turn_90_left_3(); crossroad++; } } if(((L1 + L2 + M + R1 + R2) >=3)&& crossroad == 3 )//达到丁字路口 { if(Flag_Direction=='0') { while(1) { find5(); } } else if(Flag_Direction=='2') { while(1) { find8(); } } } if(crossroad == 2 && (L1 + L2 + M + R1 + R2) >=3) //6 7号病房 { if(Flag_Direction=='2') { delay_ms(220); turn_90_right_2(); crossroad++; } } if( (L1 + L2 + M + R1 + R2) >=3 && crossroad == 3 )//达到丁字路口 { if(Flag_Direction=='0') { while(1) { find7(); } } else if(Flag_Direction=='2') { while(1) { find6(); } } } }

k210.c

#include "k210.h" #include "usart.h" #include "Motor_Drive.h" char k210_data; char number; extern char Flag_Direction; int flag=0; void uart2_init(u32 bound){ GPIO_InitTypeDef GPIO_InitStructure; USART_InitTypeDef USART_InitStructure; NVIC_InitTypeDef NVIC_InitStructure; RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2,ENABLE); GPIO_PinAFConfig(GPIOA,GPIO_PinSource2,GPIO_AF_USART2); GPIO_PinAFConfig(GPIOA,GPIO_PinSource3,GPIO_AF_USART2); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOA,&GPIO_InitStructure); USART_InitStructure.USART_BaudRate = bound; USART_InitStructure.USART_WordLength = USART_WordLength_8b; USART_InitStructure.USART_StopBits = USART_StopBits_1; USART_InitStructure.USART_Parity = USART_Parity_No; USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; USART_Init(USART2, &USART_InitStructure); USART_ITConfig(USART2, USART_IT_RXNE, ENABLE); // USART_ITConfig(USART2, USART_IT_TXE, ENABLE); USART_ClearFlag(USART2,USART_FLAG_TC); USART_Cmd(USART2, ENABLE); NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2; NVIC_InitStructure.NVIC_IRQChannelSubPriority =3; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); } void USART2_IRQHandler(void) { if (USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) { char b; USART_ClearFlag(USART2, USART_FLAG_RXNE); b = USART2->DR; if(flag==0) { number=b; flag++; } Flag_Direction=b; USART_SendData(USART2,b); } }

openmv.c

#include "openmv.h" #include "sys.h" //#include "bluetooth.h" #include "control.h" //#include "xinhao.h" #include "delay.h" //#include "motor.h" #include "usart.h" // //如果使用ucos,则包括下面的头文件即可. #if SYSTEM_SUPPORT_OS #include "includes.h" //ucos 使用 #endif int L1,L2,M,R1,R2; void uart6_init(u32 bound){ GPIO_InitTypeDef GPIO_InitStructure; USART_InitTypeDef USART_InitStructure; NVIC_InitTypeDef NVIC_InitStructure; RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOG,ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART6,ENABLE); GPIO_PinAFConfig(GPIOG,GPIO_PinSource9,GPIO_AF_USART6); GPIO_PinAFConfig(GPIOG,GPIO_PinSource14,GPIO_AF_USART6); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_14; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOG,&GPIO_InitStructure); USART_InitStructure.USART_BaudRate = bound; USART_InitStructure.USART_WordLength = USART_WordLength_8b; USART_InitStructure.USART_StopBits = USART_StopBits_1; USART_InitStructure.USART_Parity = USART_Parity_No; USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; USART_Init(USART6, &USART_InitStructure); USART_Cmd(USART6, ENABLE); //USART_ClearFlag(USART6, USART_FLAG_TC); USART_ITConfig(USART6, USART_IT_RXNE, ENABLE); NVIC_InitStructure.NVIC_IRQChannel = USART6_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0; NVIC_InitStructure.NVIC_IRQChannelSubPriority =0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); } void USART6_IRQHandler(void) { if (USART_GetITStatus(USART6, USART_IT_RXNE) != RESET) { int a; USART_ClearFlag(USART6, USART_FLAG_RXNE); a = USART6->DR; R2 = ((u8)a & 0x10) >> 4; R1 = ((u8)a & 0x08) >> 3; M = ((u8)a & 0x04) >> 2; L1 = ((u8)a & 0x02) >> 1; L2 = (u8)a & 0x01; } } 小结

其实这里偷了一个懒，药品的检测用的是一个红外对管，有时间的话各位还是试一试压力传感器吧

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