基于stm32的智能小车 |
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基于stm32的智能小车
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目录 一、功能实现 二、硬件清单 三、代码实现 1.先让小车动起来 2.串口控制小车行动 3.点动控制小车 4.硬件pwm调速 5. 左右轮各自调速 6. 循迹小车 7. 解决转弯平滑问题 8. 跟随小车 9. 摇头避障小车 9.1封装摇头功能 9.2封装超声波 9.3 封装电机驱动 10.小车测速实现 11. 串口控制小车并使用Oled显示速度 12. Wi-Fi测速小车并本地Oled显示 13. 语音控制小车 一、功能实现左右转与前进后退：通过控制左组轮和右组轮的配合实现。pwm调速使其更平滑 循迹功能：基于光电传感器原理，通过判断黑线和白线来决定左转或者右转 跟随功能：通过超声波测出小车和跟随物的距离决定移动方向 避障功能：通过超声波检测出前方障碍物，做出改变方向的决定 语音模块控制：多种语音改变多种引脚的电平，通过语音控制实现以上多种功能的切换 old屏显示速度：将测速模块的数据通过oled屏显示 二、硬件清单1.stm32f103(其他型号也行)板子
2.智能小车底盘、电机马达
3.电池盒和电池
4.超声波模块
5.sg90舵机模块 (黄pwm 红vcc 灰gnd)
6.old屏
7.测速模块
8.红外模块
9.esp8266
10.语音识别模块
电机接线：B-1A -- PB0 B-1B -- PB1 A-1A -- PB2 A-1B -- PB10 motor.c #include "motor.h" void goForward(void)//前进 { // 左轮 HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET); HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET); // 右轮 HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET); HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET); } void goBack(void)后退 { // 左轮 HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_SET); // 右轮 HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_SET); } void goLeft(void)//左转 { // 左轮 HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET); // 右轮 HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET); HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET); } void goRight(void)//右转 { // 左轮 HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET); HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET); // 右轮 HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET); } void stop(void)//停止 { // 左轮 HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET); HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_SET); // 右轮 HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET); } motor.h #ifndef __MOTOR_H__ #define __MOTOR_H__ #include "main.h" void goForward(void); void goBack(void); void goLeft(void); void goRight(void); void stop(void); #endif main.c #include "motor.h" //main函数的while循环部分： while (1) { /* USER CODE END WHILE */ goForward(); HAL_Delay(1000); goBack(); HAL_Delay(1000); goLeft(); HAL_Delay(1000); goRight(); HAL_Delay(1000); stop(); HAL_Delay(1000); /* USER CODE BEGIN 3 */ } 2.串口控制小车行动 usart.c #include "string.h" #include "stdio.h" #include "motor.h" //串口接收缓存（1字节） uint8_t buf=0; //定义最大接收字节数 200，可根据需求调整 #define UART1_REC_LEN 200 // 接收缓冲, 串口接收到的数据放在这个数组里，最大UART1_REC_LEN个字节 uint8_t UART1_RX_Buffer[UART1_REC_LEN]; // 接收状态 // bit15， 接收完成标志 // bit14， 接收到0x0d // bit13~0， 接收到的有效字节数目 uint16_t UART1_RX_STA=0; #define SIZE 12 char buffer[SIZE]; // 接收完成回调函数，收到一个数据后，在这里处理 void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { //判断中断由哪个串口触发 if(huart->Instance == USART1) { //判断接收是否完成（UART1_RX_STA bit15 位是否为1） if((UART1_RX_STA & 0x8000) == 0) { //如果已经收到了 0x0d （回车）， if(UART1_RX_STA & 0x4000) { //判断是否收到 0x0a （换行） if(buf == 0x0a) { //如果 0x0a和0x0d都收到，则将bit15位置为1 UART1_RX_STA |= 0x8000; if(!strcmp(UART1_RX_Buffer, "M1")) goForward(); else if(!strcmp(UART1_RX_Buffer, "M2")) goBack(); else if(!strcmp(UART1_RX_Buffer, "M3")) goLeft(); else if(!strcmp(UART1_RX_Buffer, "M4")) goRight(); else stop(); memset(UART1_RX_Buffer, 0, UART1_REC_LEN); UART1_RX_STA = 0; } else //否则认为接收错误，重新开始 UART1_RX_STA = 0; } else // 如果没有收到了 0x0d （回车） { //则先判断收到的这个字符是否是 0x0d （回车） if(buf == 0x0d) { //是的话则将 bit14 位置为1 UART1_RX_STA |= 0x4000; } else { //否则将接收到的数据保存在缓存数组里 UART1_RX_Buffer[UART1_RX_STA & 0X3FFF] = buf; UART1_RX_STA++; //如果接收数据大于UART1_REC_LEN（200字节），则重新开始接收 if(UART1_RX_STA > UART1_REC_LEN - 1) UART1_RX_STA = 0; } } } //重新开启中断 HAL_UART_Receive_IT(&huart1, &buf, 1); } } int fputc(int ch, FILE *f) { unsigned char temp[1]={ch}; HAL_UART_Transmit(&huart1,temp,1,0xffff); return ch; } main.c #include "motor.h" extern uint8_t buf; //main函数 HAL_UART_Receive_IT(&huart1, &buf, 1); 3.点动控制小车 usart.c if (!strcmp(UART1_RX_Buffer, "M1")) { goForward(); HAL_Delay(10); } else if (!strcmp(UART1_RX_Buffer, "M2")) { goBack(); HAL_Delay(10); } else if (!strcmp(UART1_RX_Buffer, "M3")) { goLeft(); HAL_Delay(10); } else if (!strcmp(UART1_RX_Buffer, "M4")) { goRight(); HAL_Delay(10); } else stop(); main.c HAL_NVIC_SetPriority(SysTick_IRQn,0,0); //或者通过cubeMX配置 while(1) { stop(); } 4.硬件pwm调速 cubeMX 配置
根据公式配置psc和arr
代码实现 main.c // main函数里 HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_1); HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_2); while (1) { __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, 8); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, 8); HAL_Delay(1000); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, 10); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, 10); HAL_Delay(1000); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, 15); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, 15); HAL_Delay(1000); } 5. 左右轮各自调速 代码实现 // main函数里 while (1) { __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,8); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,15); HAL_Delay(1000); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,15); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,8); HAL_Delay(1000); } 6. 循迹小车 循迹模块（左） -- PB3 循迹模块（右） -- PB4代码实现 #define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3) #define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4) // main函数里 while (1) { if (LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET) goForward(); if (LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET) goLeft(); if (LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET) goRight(); if (LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET) stop(); } 7. 解决转弯平滑问题 代码实现 #define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3) #define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4) // main函数里 while (1) { if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET) { __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,19); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,19); } if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET) { __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,15); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,8); } if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET) { __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,8); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,15); } if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET) { __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,0); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,0); } } 8. 跟随小车 跟随模块（左） -- PB5 跟随模块（右） -- PB6 代码实现 #define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_5) #define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_6) // main函数里 while (1) { if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET) goForward(); if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET) goRight(); if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET) goLeft(); if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET) stop(); } 9. 摇头避障小车 9.1封装摇头功能 舵机接线：sg90 -- PB9 sg90.c #include "sg90.h" #include "gpio.h" #include "tim.h" void initSG90(void)//初始化90度 { HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_4); //启动定时器4 __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 17); //将舵机置为90度 } void sgMiddle(void) { __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 17); //将舵机置为90度 } void sgRight(void) { __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 5); //将舵机置为0度 } void sgLeft(void) { __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 25); //将舵机置为180度 }sg90.h #ifndef __SG90_H__ #define __SG90_H__ void initSG90(void); void sgMiddle(void); void sgRight(void); void sgLeft(void); #endifmain.c initSG90(); HAL_Delay(1000); while (1) { sgLeft(); HAL_Delay(1000); sgMiddle(); HAL_Delay(1000); sgRight(); HAL_Delay(1000); sgMiddle(); HAL_Delay(1000); } 9.2封装超声波超声波接线 Trig -- PB7 Echo -- PB8 cubeMX 配置
代码实现 sr04.c #include "sr04.h" #include "gpio.h" #include "tim.h" //使用TIM2来做us级延时函数 void TIM2_Delay_us(uint16_t n_us) { /* 使能定时器2计数 */ __HAL_TIM_ENABLE(&htim2); __HAL_TIM_SetCounter(&htim2, 0); while(__HAL_TIM_GetCounter(&htim2) < ((1 * n_us)-1) ); /* 关闭定时器2计数 */ __HAL_TIM_DISABLE(&htim2); } double get_distance(void) { int cnt=0; //1. Trig ，给Trig端口至少10us的高电平 HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_SET);//拉高 TIM2_Delay_us(20); HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_RESET);//拉低 //2. echo由低电平跳转到高电平，表示开始发送波 //波发出去的那一下，开始启动定时器 while(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_8) == GPIO_PIN_RESET);//等待输入电平拉高 HAL_TIM_Base_Start(&htim2); __HAL_TIM_SetCounter(&htim2,0); //3. 由高电平跳转回低电平，表示波回来了 while(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_8) == GPIO_PIN_SET);//等待输入电平变低 //波回来的那一下，我们开始停止定时器 HAL_TIM_Base_Stop(&htim2); //4. 计算出中间经过多少时间 cnt = __HAL_TIM_GetCounter(&htim2); //5. 距离 = 速度 （340m/s）* 时间/2（计数1次表示1us） return (cnt*340/2*0.000001*100); //单位：cm } sr04.h #ifndef __SR04_H__ #define __SR04_H__ double get_distance(void); #endif main.c while (1) { if(dir != MIDDLE) { sgMiddle(); dir = MIDDLE; HAL_Delay(300); } disMiddle = get_distance(); if(disMiddle > 35) { //前进 } else { //停止 //测左边距离 sgLeft(); HAL_Delay(300); disLeft = get_distance(); sgMiddle(); HAL_Delay(300); sgRight(); dir = RIGHT; HAL_Delay(300); disRight = get_distance(); } } 9.3 封装电机驱动 硬件接线与1一样： B-1A -- PB0 B-1B -- PB1 A-1A -- PB2 A-1B -- PB10 代码实现 while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ if(dir != MIDDLE){ sgMiddle(); dir = MIDDLE; HAL_Delay(300); } disMiddle = get_distance(); if(disMiddle > 35){ //前进 goForward(); }else if(disMiddle < 10){ goBack(); }else { //停止 stop(); //测左边距离 sgLeft(); HAL_Delay(300); disLeft = get_distance(); sgMiddle(); HAL_Delay(300); sgRight(); dir = RIGHT; HAL_Delay(300); disRight = get_distance(); if(disLeft < disRight){ goRight(); HAL_Delay(150); stop(); } if(disRight < disLeft){ goLeft(); HAL_Delay(150); stop(); } } HAL_Delay(50); } 10.小车测速实现 硬件接线 测速模块： VCC -- 3.3V 不能接5V，否则遮挡一次会触发 3 次中断 OUT -- PB14 cubeMX 配置 
代码实现 unsigned int speedCnt; void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) { if (GPIO_Pin == GPIO_PIN_14) if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_14) == GPIO_PIN_RESET) speedCnt++; } void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { printf("speed: %d\r\n", speedCnt); speedCnt = 0; } main函数里： HAL_TIM_Base_Start_IT(&htim2); 11. 串口控制小车并使用Oled显示速度 硬件接线 SCL -- PB6 SDA -- PB7 封装 Oled 模块 代码实现 oled.c #include "oled.h" #include "i2c.h" #include "oledfont.h" void Oled_Write_Cmd(uint8_t dataCmd) { HAL_I2C_Mem_Write(&hi2c1, 0x78, 0x00, I2C_MEMADD_SIZE_8BIT, &dataCmd, 1, 0xff); } void Oled_Write_Data(uint8_t dataData) { HAL_I2C_Mem_Write(&hi2c1, 0x78, 0x40, I2C_MEMADD_SIZE_8BIT, &dataData, 1, 0xff); } void Oled_Init(void){ Oled_Write_Cmd(0xAE);//--display off Oled_Write_Cmd(0x00);//---set low column address Oled_Write_Cmd(0x10);//---set high column address Oled_Write_Cmd(0x40);//--set start line address Oled_Write_Cmd(0xB0);//--set page address Oled_Write_Cmd(0x81); // contract control Oled_Write_Cmd(0xFF);//--128 Oled_Write_Cmd(0xA1);//set segment remap Oled_Write_Cmd(0xA6);//--normal / reverse Oled_Write_Cmd(0xA8);//--set multiplex ratio(1 to 64) Oled_Write_Cmd(0x3F);//--1/32 duty Oled_Write_Cmd(0xC8);//Com scan direction Oled_Write_Cmd(0xD3);//-set display offset Oled_Write_Cmd(0x00);// Oled_Write_Cmd(0xD5);//set osc division Oled_Write_Cmd(0x80);// Oled_Write_Cmd(0xD8);//set area color mode off Oled_Write_Cmd(0x05);// Oled_Write_Cmd(0xD9);//Set Pre-Charge Period Oled_Write_Cmd(0xF1);// Oled_Write_Cmd(0xDA);//set com pin configuartion Oled_Write_Cmd(0x12);// Oled_Write_Cmd(0xDB);//set Vcomh Oled_Write_Cmd(0x30);// Oled_Write_Cmd(0x8D);//set charge pump enable Oled_Write_Cmd(0x14);// Oled_Write_Cmd(0xAF);//--turn on oled panel } void Oled_Screen_Clear(void){ char i,n; Oled_Write_Cmd (0x20); //set memory addressing mode Oled_Write_Cmd (0x02); //page addressing mode for(i=0;i4)); //high for(i=((oledChar-32)*16);i>4)); //high for(i=((oledChar-32)*16+8);i 35){ //前进 goForward(); }else if(disMiddle < 10){ goBack(); }else { //停止 stop(); //测左边距离 sgLeft(); HAL_Delay(300); disLeft = get_distance(); sgMiddle(); HAL_Delay(300); sgRight(); dir = RIGHT; HAL_Delay(300); disRight = get_distance(); if(disLeft < disRight){ goRight(); HAL_Delay(150); stop(); } if(disRight < disLeft){ goLeft(); HAL_Delay(150); stop(); } } HAL_Delay(50); } //main部分 MX_GPIO_Init(); MX_TIM4_Init(); MX_TIM2_Init(); MX_I2C1_Init(); initSG90(); HAL_Delay(1000); dir = MIDDLE; Oled_Init(); Oled_Screen_Clear(); Oled_Show_Str(2,2,"-----Ready----"); while (1) { //满足寻迹模式的条件 if(A25 == 1 && A26 == 1 && A27 == 0){ if(mark != XJ){ Oled_Screen_Clear(); Oled_Show_Str(2,2,"-----XunJi----"); } mark = XJ; xunjiMode(); } //满足跟随模式的条件 if(A25 == 0 && A26 == 1 && A27 == 1){ if(mark != GS){ Oled_Screen_Clear(); Oled_Show_Str(2,2,"-----GenSui----"); } mark = GS; gensuiMode(); } //满足避障模式的条件 if(A25 == 1 && A26 == 0 && A27 == 1){ if(mark != BZ){ Oled_Screen_Clear(); Oled_Show_Str(2,2,"-----BiZhang----"); } mark = BZ; bizhangMode(); } } } 13. 语音控制小车 语音模块硬件接线 A25 -- PA15 （跟随） A26 -- PA13 （避障） A27 -- PA14 （循迹） cubeMX配置
代码实现 #include "sg90.h" #include "sr04.h" #include "motor.h" #include "oled.h" #include "string.h" #define MIDDLE 0 #define LEFT 1 #define RIGHT 2 #define BZ 1 #define XJ 2 #define GS 3 #define LeftWheel_Value_XJ HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3) #define RightWheel_Value_XJ HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4) #define LeftWheel_Value_GS HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_8) #define RightWheel_Value_GS HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_9) #define XJ_VALUE HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_14) #define GS_VALUE HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_15) #define BZ_VALUE HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_13) char dir; void xunjiMode() { if(LeftWheel_Value_XJ == GPIO_PIN_RESET && RightWheel_Value_XJ == GPIO_PIN_RESET) goForward(); if(LeftWheel_Value_XJ == GPIO_PIN_SET && RightWheel_Value_XJ == GPIO_PIN_RESET) goLeft(); if(LeftWheel_Value_XJ == GPIO_PIN_RESET && RightWheel_Value_XJ == GPIO_PIN_SET) goRight(); if(LeftWheel_Value_XJ == GPIO_PIN_SET && RightWheel_Value_XJ == GPIO_PIN_SET) stop(); } void gensuiMode() { if(LeftWheel_Value_GS == GPIO_PIN_RESET && RightWheel_Value_GS == GPIO_PIN_RESET) goForward(); if(LeftWheel_Value_GS == GPIO_PIN_SET && RightWheel_Value_GS == GPIO_PIN_RESET) goRight(); if(LeftWheel_Value_GS == GPIO_PIN_RESET && RightWheel_Value_GS == GPIO_PIN_SET) goLeft(); if(LeftWheel_Value_GS == GPIO_PIN_SET && RightWheel_Value_GS == GPIO_PIN_SET) stop(); } void bizhangMode() { double disMiddle; double disLeft; double disRight; if(dir != MIDDLE){ sgMiddle(); dir = MIDDLE; HAL_Delay(300); } disMiddle = get_distance(); if(disMiddle > 35){ //前进 goForward(); }else if(disMiddle < 10){ goBack(); }else { //停止 stop(); //测左边距离 sgLeft(); HAL_Delay(300); disLeft = get_distance(); sgMiddle(); HAL_Delay(300); sgRight(); dir = RIGHT; HAL_Delay(300); disRight = get_distance(); if(disLeft < disRight){ goRight(); HAL_Delay(150); stop(); } if(disRight < disLeft){ goLeft(); HAL_Delay(150); stop(); } } HAL_Delay(50); } int main(void) { int mark = 0; HAL_Init(); SystemClock_Config(); MX_GPIO_Init(); MX_TIM4_Init(); MX_TIM2_Init(); MX_I2C1_Init(); initSG90(); HAL_Delay(1000); dir = MIDDLE; Oled_Init(); Oled_Screen_Clear(); Oled_Show_Str(2,2,"-----Ready----"); while (1) { if(XJ_VALUE == GPIO_PIN_RESET && GS_VALUE == GPIO_PIN_SET && BZ_VALUE == GPIO_PIN_SET) { if(mark != XJ) { Oled_Screen_Clear(); Oled_Show_Str(2,2,"-----XunJi----"); } mark = XJ; xunjiMode(); } //满足循迹模式的条件 if(XJ_VALUE == GPIO_PIN_SET && GS_VALUE == GPIO_PIN_RESET && BZ_VALUE == GPIO_PIN_SET) { if(mark != GS) { Oled_Screen_Clear(); Oled_Show_Str(2,2,"-----GenSui----"); } mark = GS; gensuiMode(); } //满足避障模式的条件 if(XJ_VALUE == GPIO_PIN_SET && GS_VALUE == GPIO_PIN_SET && BZ_VALUE == GPIO_PIN_RESET) { if(mark != BZ) { Oled_Screen_Clear(); Oled_Show_Str(2,2,"-----BiZhang----"); } mark = BZ; bizhangMode(); } HAL_Delay(50); } } |
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