基于stm32超声波+蓝牙一体式机器人（小车）

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已于 2024-08-27 20:10:32 修改

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文章标签： stm32 单片机嵌入式硬件

于 2023-01-10 18:34:40 首次发布

本文链接：https://blog.csdn.net/m0_61925899/article/details/128621811

版权

文章详细介绍了基于STM32微控制器设计的一款超声波避障蓝牙遥控小车，包括超声波模块的配置、蓝牙通信模块的使用、OLED显示屏的显示功能以及电机控制。小车能通过超声波传感器检测障碍物并根据距离调整行驶方向，同时可以通过蓝牙模块接收手机指令进行遥控操作。

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最近制作了一款基于stm32的有两个功能的机器人（小车），自我感觉还算不错，于是想分享出来，如果能帮到你那我很开心。如果你感觉哪里有错误和需要改进的地方，欢迎发表意见，我会真诚接受并虚心学习！谢谢哦！

一、成品图片+思维导图

成品图片

思维导图

二、超声波小车

时钟模块

超声波的使用需要配置一个TIM定时器，是用来计算超声波模块的TRIG引脚发射脉冲信号到ECHO引脚接收到返回的脉冲信号这一区间段的时间（单位换算成秒），在我的这个项目中，我使用了TIM4来完成这一步骤。具体配置情况请详见下面的配置函数。（注意！！！第二段代码是TIM4的定时器中断函数，请放在使用TIM4的地方即可）


void Timer4_Init(void)
{
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);
    
    TIM_InternalClockConfig(TIM4);/*使用内部时钟TIM4*/
    
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
    TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;//不分频
    TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInitStructure.TIM_Period = 1000 - 1;
    TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1;
    TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM4,&TIM_TimeBaseInitStructure);
    
    TIM_ClearFlag(TIM4,TIM_FLAG_Update);
    /*打开中断*/
    TIM_ITConfig(TIM4,TIM_IT_Update,ENABLE);
    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//NVIC优先级分组2
    
    NVIC_InitTypeDef NVIC_InitStructure;
    NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_Init(&NVIC_InitStructure);
    
    TIM_Cmd(TIM4,ENABLE);/*使能定时器4*/
}

uint16_t Timer4_GetCounter(void) //获取定时器4的值
{
    return TIM_GetCounter(TIM4);
}


void TIM4_IRQHandler(void)  //定时器4中断
{    
    if(TIM_GetITStatus(TIM4,TIM_IT_Update) == SET)
    {
        TIM_ClearITPendingBit(TIM4,TIM_IT_Update);//更新中断
        count++;
    }
}

超声波模块

超声波的配置也是相对简单，先给TRIG引脚一个高电平，在使用延时函数延时20微秒，打开TIM4计时，再检测ECHO是否接收，若接收，获取TIM4的计时结果，若为接收，则等待接收。具体请详见下面代码。


/*记录定时器溢出次数*/
uint16_t count = 0;


void Ultrasonic_GPIO_Init(void)
{
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
    
    GPIO_InitTypeDef GPIO_InitStructure;
    
    /*TRIG触发信号*/
    GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Pin=GPIO_Pin_15;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    /*ECOH回响信号*/
    GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPD;
    GPIO_InitStructure.GPIO_Pin=GPIO_Pin_14;
    GPIO_Init(GPIOB, & GPIO_InitStructure);
}


float Get_Ultrasonic_distance(void)
{
    Timer4_Init();
    Ultrasonic_GPIO_Init();
    
    float distance = 0 ,sum = 0;
    uint32_t tim = 0 ;
    uint8_t i = 0;
    
    while(i!=5)        //连续测5次，求平均值，使结果准确
    {
        GPIO_ResetBits(GPIOB, GPIO_Pin_15);//先置为低电平
        GPIO_SetBits(GPIOB, GPIO_Pin_15);  //拉高信号，作为触发信号
        Delay_us(20);                          //高电平信号超过10us
        GPIO_ResetBits(GPIOB, GPIO_Pin_15);
        
        /*等待回响信号,回响信号到来*/
        while(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_14) == RESET);
        TIM_SetCounter(TIM4,0); //将TIM4计数寄存器的计数值清零
        TIM_Cmd(TIM4,ENABLE);//开启定时器计数
        
        i+=1;
        
        /*回响信号消失*/
        while(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_14) == SET);
        TIM_Cmd(TIM4, DISABLE);//关闭定时器
        
        tim = Timer4_GetCounter();//获取计TIM4数寄存器中的计数值，以便计算回响信号时间
        distance = ((float)(tim + count * 1000)) / 58.0;//通过回响信号计算距离
        sum += distance;
        //TIM4->CNT = 0; 
        TIM_SetCounter(TIM4,0);  //将TIM4计数寄存器的计数值清零
        count = 0;  //中断溢出次数清零
        Delay_ms(20);
    }
    
    distance = (sum / 5.0);    //单位cm 
    return distance;        //距离作为函数返回值
}

void TIM4_IRQHandler(void)  //定时器4中断
{    
    if(TIM_GetITStatus(TIM4,TIM_IT_Update) == SET)
    {
        TIM_ClearITPendingBit(TIM4,TIM_IT_Update);//更新中断
        count++;
    }
}//这里使用了中断函数，就放这里

逻辑函数

逻辑函数就是小车收到数据该如何转向的问题，请详见下面的代码，注释很详细的。


void Ultrasonic_car(void)
{
    int8_t Speed = 50;  /*速度范围为[0,100]*/
    float left_distance = 0.0;
    float right_distance = 0.0;
    float front_distance = 0.0;
    
    Delay_ms(500);
    SG90_Front();//舵机面向前方
    front_distance = Get_Ultrasonic_distance();//测出前方的距离
    OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);
    
    SG90_Left();//舵机转向左边
    Delay_ms(500);
    left_distance = Get_Ultrasonic_distance();//测出左边的距离
    OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);
    
    SG90_Right();//舵机转向右边
    Delay_ms(500);
    right_distance = Get_Ultrasonic_distance();//测出右边的距离
    OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);
    SG90_Front();//舵机面向前方
    
    if((front_distance>left_distance)&&(front_distance>right_distance))
    {
        Car_Forword(Speed);
        front_distance = Get_Ultrasonic_distance();//测出前方的距离
        OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);
    }
    else if((left_distance>front_distance)&&(left_distance>right_distance))
    {
        Car_Left(Speed);
        Delay_ms(500);
        Car_Forword(Speed);
        front_distance = Get_Ultrasonic_distance();//测出前方的距离
        OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);
    }
    else if((right_distance>front_distance)&&(right_distance>left_distance))
    {
        Car_Right(Speed);
        Delay_ms(500);
        Car_Forword(Speed);
        front_distance = Get_Ultrasonic_distance();//测出前方的距离
        OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);
    }
    else Car_Stop();
    
    while(1)
    {
        OLED_ShowNum(2,7,Speed,3);
        front_distance = Get_Ultrasonic_distance();//测出前方的距离
        OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);
        if(front_distance<=50)
        {
            Car_Stop();
            SG90_Left();//舵机转向左边
            Delay_ms(800);
            left_distance = Get_Ultrasonic_distance();//测出左边的距离
            OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);
            
            SG90_Right();//舵机转向y边
            Delay_ms(800);
            right_distance = Get_Ultrasonic_distance();//测出y边的距离
            OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);
            SG90_Front();//舵机面向前方
            front_distance = Get_Ultrasonic_distance();//测出前方的距离
            OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);
            
            if(left_distance>right_distance)
            {
                Car_Left(Speed);
                Delay_ms(500);
                Car_Stop();
                Delay_s(1);
                Car_Forword(Speed);
            }
            else if((left_distance<right_distance))
            {
                Car_Right(Speed);
                Delay_ms(500);
                Car_Stop();
                Delay_s(1);
                Car_Forword(Speed);
            }
            else
            {
                Car_Back(Speed);
                Delay_ms(800);
                Car_Left(Speed);
                Delay_ms(800);
                Car_Forword(Speed);
            }
        }
        
    }
}

写到这里，超声波小车就结束了，重点很少，主要是得理解思路。上面函数中出现的其他函数的调用，会在下面（五、通用功能的函数文件）给出C文件的。

三、蓝牙小车（具体用到的GPIO请见上面的思维导图）（注意！！！5V供电）

用到的模块是HC-05蓝牙模块，蓝牙模块上的TXD引脚和RXD引脚分别接stm32的USART串口上的RXD和TXD对应的引脚。（我使用的是STM32F103C8T6，它的USART1的RXD和TXD分别是GPIOA9和GPIOA10），具体请见下面的代码。

串口初始化模块


void Serial_Init(void)
{
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
    
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    
    USART_InitTypeDef USART_InitStructure;
    USART_InitStructure.USART_BaudRate = 9600;
    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
    USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
    USART_InitStructure.USART_Parity = USART_Parity_No;
    USART_InitStructure.USART_StopBits = USART_StopBits_1;
    USART_InitStructure.USART_WordLength = USART_WordLength_8b;
    USART_Init(USART1, &USART_InitStructure);
    
    USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
    
    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
    
    NVIC_InitTypeDef NVIC_InitStructure;
    NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_Init(&NVIC_InitStructure);
    
    USART_Cmd(USART1, ENABLE);
}

蓝牙模块（发送和接收数据的函数）


uint8_t Serial_RxData;
uint8_t Serial_RxFlag;

void Serial_SendByte(uint8_t Byte)    //发送一个字节
{
    USART_SendData(USART1, Byte);
    while (USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
}

void Serial_SendArray(uint8_t *Array, uint16_t Length) //发送一个数组
{
    uint16_t i;
    for (i = 0; i < Length; i ++)
    {
        Serial_SendByte(Array[i]);
    }
}

void Serial_SendString(char *String) //发送一个字符串
{
    uint8_t i;
    for (i = 0; String[i] != '\0'; i ++)
    {
        Serial_SendByte(String[i]);
    }
}

void Serial_SendNumber(uint32_t Number, uint8_t Length) //发送一串数字
{
    uint8_t i;
    for (i = 0; i < Length; i ++)
    {
        Serial_SendByte(Number / Serial_Pow(10, Length - i - 1) % 10 + '0');
    }
}

uint8_t Serial_GetRxFlag(void) //获取中断标志位
{
    if (Serial_RxFlag == 1)
    {
        Serial_RxFlag = 0;
        return 1;
    }
    return 0;
}

uint8_t Serial_GetRxData(void) //获取收到的数据
{
    return Serial_RxData;
}

void USART1_IRQHandler(void) //串口USART1的中断
{
    if (USART_GetITStatus(USART1, USART_IT_RXNE) == SET)
    {
        Serial_RxData = USART_ReceiveData(USART1);
        Serial_RxFlag = 1;
        USART_ClearITPendingBit(USART1, USART_IT_RXNE);
    }
}

逻辑函数（手机连接蓝牙模块，发送指令使小车完成相应的动作）


uint8_t RxData=0;

void Hc05_car(void)
{
    while(1)
    {
        if(Serial_GetRxFlag() == 1)
        {
            RxData=Serial_GetRxData();
            //OLED_ShowHexNum(3,1,RxData,2);
        }
        
        switch(RxData)
        {
            case 1:Car_Forword(100);break;
            case 2:Car_Stop();break;
            case 3:Car_Back(100);break;
            case 4:Car_Stop();break;
            case 5:Car_Left(100);break;
            case 6:Car_Stop();break;
            case 7:Car_Right(100);break;
            case 8:Car_Stop();break;
            case 9:Buzzer_ON1();break;
            case 10:Buzzer_OFF();break;
            case 11:LED_ON();break;
            case 12:LED_OFF();break;
            case 13:LED_Flash_ON();break;
            case 14:LED_Flash_OFF();break;
        }
    }
}

四、其他模块和功能

OLED显示屏（四引脚）（温馨提示！！！关于这个模块掌握的还不够好，但是我可以分享出大佬代码，供大家参考。。。共有三个文件，大家直接复制粘贴用即可）

OLED.c


#include "stm32f10x.h"
#include "OLED_Font.h"

/*引脚配置*/
#define OLED_W_SCL(x)        GPIO_WriteBit(GPIOB, GPIO_Pin_8, (BitAction)(x))
#define OLED_W_SDA(x)        GPIO_WriteBit(GPIOB, GPIO_Pin_9, (BitAction)(x))

/*引脚初始化*/
void OLED_I2C_Init(void)
{
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
    
    GPIO_InitTypeDef GPIO_InitStructure;
     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
     GPIO_Init(GPIOB, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
     GPIO_Init(GPIOB, &GPIO_InitStructure);
    
    OLED_W_SCL(1);
    OLED_W_SDA(1);
}

/**
  * @brief  I2C开始
  * @param  无
  * @retval 无
  */
void OLED_I2C_Start(void)
{
    OLED_W_SDA(1);
    OLED_W_SCL(1);
    OLED_W_SDA(0);
    OLED_W_SCL(0);
}

/**
  * @brief  I2C停止
  * @param  无
  * @retval 无
  */
void OLED_I2C_Stop(void)
{
    OLED_W_SDA(0);
    OLED_W_SCL(1);
    OLED_W_SDA(1);
}

/**
  * @brief  I2C发送一个字节
  * @param  Byte 要发送的一个字节
  * @retval 无
  */
void OLED_I2C_SendByte(uint8_t Byte)
{
    uint8_t i;
    for (i = 0; i < 8; i++)
    {
        OLED_W_SDA(Byte & (0x80 >> i));
        OLED_W_SCL(1);
        OLED_W_SCL(0);
    }
    OLED_W_SCL(1);    //额外的一个时钟，不处理应答信号
    OLED_W_SCL(0);
}

/**
  * @brief  OLED写命令
  * @param  Command 要写入的命令
  * @retval 无
  */
void OLED_WriteCommand(uint8_t Command)
{
    OLED_I2C_Start();
    OLED_I2C_SendByte(0x78);        //从机地址
    OLED_I2C_SendByte(0x00);        //写命令
    OLED_I2C_SendByte(Command); 
    OLED_I2C_Stop();
}

/**
  * @brief  OLED写数据
  * @param  Data 要写入的数据
  * @retval 无
  */
void OLED_WriteData(uint8_t Data)
{
    OLED_I2C_Start();
    OLED_I2C_SendByte(0x78);        //从机地址
    OLED_I2C_SendByte(0x40);        //写数据
    OLED_I2C_SendByte(Data);
    OLED_I2C_Stop();
}

/**
  * @brief  OLED设置光标位置
  * @param  Y 以左上角为原点，向下方向的坐标，范围：0~7
  * @param  X 以左上角为原点，向右方向的坐标，范围：0~127
  * @retval 无
  */
void OLED_SetCursor(uint8_t Y, uint8_t X)
{
    OLED_WriteCommand(0xB0 | Y);                    //设置Y位置
    OLED_WriteCommand(0x10 | ((X & 0xF0) >> 4));    //设置X位置低4位
    OLED_WriteCommand(0x00 | (X & 0x0F));            //设置X位置高4位
}

/**
  * @brief  OLED清屏
  * @param  无
  * @retval 无
  */
void OLED_Clear(void)
{  
    uint8_t i, j;
    for (j = 0; j < 8; j++)
    {
        OLED_SetCursor(j, 0);
        for(i = 0; i < 128; i++)
        {
            OLED_WriteData(0x00);
        }
    }
}

/**
  * @brief  OLED显示一个字符
  * @param  Line 行位置，范围：1~4
  * @param  Column 列位置，范围：1~16
  * @param  Char 要显示的一个字符，范围：ASCII可见字符
  * @retval 无
  */
void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char)
{          
    uint8_t i;
    OLED_SetCursor((Line - 1) * 2, (Column - 1) * 8);        //设置光标位置在上半部分
    for (i = 0; i < 8; i++)
    {
        OLED_WriteData(OLED_F8x16[Char - ' '][i]);            //显示上半部分内容
    }
    OLED_SetCursor((Line - 1) * 2 + 1, (Column - 1) * 8);    //设置光标位置在下半部分
    for (i = 0; i < 8; i++)
    {
        OLED_WriteData(OLED_F8x16[Char - ' '][i + 8]);        //显示下半部分内容
    }
}

/**
  * @brief  OLED显示字符串
  * @param  Line 起始行位置，范围：1~4
  * @param  Column 起始列位置，范围：1~16
  * @param  String 要显示的字符串，范围：ASCII可见字符
  * @retval 无
  */
void OLED_ShowString(uint8_t Line, uint8_t Column, char *String)
{
    uint8_t i;
    for (i = 0; String[i] != '\0'; i++)
    {
        OLED_ShowChar(Line, Column + i, String[i]);
    }
}

/**
  * @brief  OLED次方函数
  * @retval 返回值等于X的Y次方
  */
uint32_t OLED_Pow(uint32_t X, uint32_t Y)
{
    uint32_t Result = 1;
    while (Y--)
    {
        Result *= X;
    }
    return Result;
}

/**
  * @brief  OLED显示数字（十进制，正数）
  * @param  Line 起始行位置，范围：1~4
  * @param  Column 起始列位置，范围：1~16
  * @param  Number 要显示的数字，范围：0~4294967295
  * @param  Length 要显示数字的长度，范围：1~10
  * @retval 无
  */
void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{
    uint8_t i;
    for (i = 0; i < Length; i++)                            
    {
        OLED_ShowChar(Line, Column + i, Number / OLED_Pow(10, Length - i - 1) % 10 + '0');
    }
}

/**
  * @brief  OLED显示数字（十进制，带符号数）
  * @param  Line 起始行位置，范围：1~4
  * @param  Column 起始列位置，范围：1~16
  * @param  Number 要显示的数字，范围：-2147483648~2147483647
  * @param  Length 要显示数字的长度，范围：1~10
  * @retval 无
  */
void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length)
{
    uint8_t i;
    uint32_t Number1;
    if (Number >= 0)
    {
        OLED_ShowChar(Line, Column, '+');
        Number1 = Number;
    }
    else
    {
        OLED_ShowChar(Line, Column, '-');
        Number1 = -Number;
    }
    for (i = 0; i < Length; i++)                            
    {
        OLED_ShowChar(Line, Column + i + 1, Number1 / OLED_Pow(10, Length - i - 1) % 10 + '0');
    }
}

/**
  * @brief  OLED显示数字（十六进制，正数）
  * @param  Line 起始行位置，范围：1~4
  * @param  Column 起始列位置，范围：1~16
  * @param  Number 要显示的数字，范围：0~0xFFFFFFFF
  * @param  Length 要显示数字的长度，范围：1~8
  * @retval 无
  */
void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{
    uint8_t i, SingleNumber;
    for (i = 0; i < Length; i++)                            
    {
        SingleNumber = Number / OLED_Pow(16, Length - i - 1) % 16;
        if (SingleNumber < 10)
        {
            OLED_ShowChar(Line, Column + i, SingleNumber + '0');
        }
        else
        {
            OLED_ShowChar(Line, Column + i, SingleNumber - 10 + 'A');
        }
    }
}

/**
  * @brief  OLED显示数字（二进制，正数）
  * @param  Line 起始行位置，范围：1~4
  * @param  Column 起始列位置，范围：1~16
  * @param  Number 要显示的数字，范围：0~1111 1111 1111 1111
  * @param  Length 要显示数字的长度，范围：1~16
  * @retval 无
  */
void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{
    uint8_t i;
    for (i = 0; i < Length; i++)                            
    {
        OLED_ShowChar(Line, Column + i, Number / OLED_Pow(2, Length - i - 1) % 2 + '0');
    }
}

/**
  * @brief  OLED初始化
  * @param  无
  * @retval 无
  */
void OLED_Init(void)
{
    uint32_t i, j;
    
    for (i = 0; i < 1000; i++)            //上电延时
    {
        for (j = 0; j < 1000; j++);
    }
    
    OLED_I2C_Init();            //端口初始化
    
    OLED_WriteCommand(0xAE);    //关闭显示
    
    OLED_WriteCommand(0xD5);    //设置显示时钟分频比/振荡器频率
    OLED_WriteCommand(0x80);
    
    OLED_WriteCommand(0xA8);    //设置多路复用率
    OLED_WriteCommand(0x3F);
    
    OLED_WriteCommand(0xD3);    //设置显示偏移
    OLED_WriteCommand(0x00);
    
    OLED_WriteCommand(0x40);    //设置显示开始行
    
    OLED_WriteCommand(0xA1);    //设置左右方向，0xA1正常 0xA0左右反置
    
    OLED_WriteCommand(0xC8);    //设置上下方向，0xC8正常 0xC0上下反置

    OLED_WriteCommand(0xDA);    //设置COM引脚硬件配置
    OLED_WriteCommand(0x12);
    
    OLED_WriteCommand(0x81);    //设置对比度控制
    OLED_WriteCommand(0xCF);

    OLED_WriteCommand(0xD9);    //设置预充电周期
    OLED_WriteCommand(0xF1);

    OLED_WriteCommand(0xDB);    //设置VCOMH取消选择级别
    OLED_WriteCommand(0x30);

    OLED_WriteCommand(0xA4);    //设置整个显示打开/关闭

    OLED_WriteCommand(0xA6);    //设置正常/倒转显示

    OLED_WriteCommand(0x8D);    //设置充电泵
    OLED_WriteCommand(0x14);

    OLED_WriteCommand(0xAF);    //开启显示
        
    OLED_Clear();                //OLED清屏
}

OLED.h


#ifndef __OLED_H
#define __OLED_H

void OLED_Init(void);
void OLED_Clear(void);
void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char);
void OLED_ShowString(uint8_t Line, uint8_t Column, char *String);
void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);
void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length);
void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);
void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);

#endif

OLED_Font.h


#ifndef __OLED_FONT_H
#define __OLED_FONT_H

/*OLED字模库，宽8像素，高16像素*/
const uint8_t OLED_F8x16[][16]=
{
    0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
    0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//  0
    
    0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,
    0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1
    
    0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,
    0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2
    
    0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,
    0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3
    
    0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,
    0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4
    
    0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,
    0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5
    
    0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,
    0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6
    
    0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,
    0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7
    
    0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,
    0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8
    
    0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,
    0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9
    
    0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,
    0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10
    
    0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,
    0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11
    
    0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
    0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12
    
    0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
    0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13
    
    0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
    0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14
    
    0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,
    0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15
    
    0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,
    0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16
    
    0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,
    0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17
    
    0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,
    0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18
    
    0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,
    0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19
    
    0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,
    0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20
    
    0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,
    0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21
    
    0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,
    0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22
    
    0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,
    0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23
    
    0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,
    0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24
    
    0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,
    0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25
    
    0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,
    0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26
    
    0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,
    0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27
    
    0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,
    0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28
    
    0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,
    0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29
    
    0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,
    0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30
    
    0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,
    0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31
    
    0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,
    0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32
    
    0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,
    0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33
    
    0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,
    0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34
    
    0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,
    0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35
    
    0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,
    0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36
    
    0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,
    0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37
    
    0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,
    0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38
    
    0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,
    0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39
    
    0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,
    0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40
    
    0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,
    0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41
    
    0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,
    0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42
    
    0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,
    0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43
    
    0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,
    0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44
    
    0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,
    0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45
    
    0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,
    0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46
    
    0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,
    0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47
    
    0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,
    0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48
    
    0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,
    0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49
    
    0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,
    0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50
    
    0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,
    0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51
    
    0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,
    0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52
    
    0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,
    0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53
    
    0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,
    0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54
    
    0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,
    0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55
    
    0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,
    0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56
    
    0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,
    0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57
    
    0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,
    0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58
    
    0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,
    0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59
    
    0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,
    0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60
    
    0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,
    0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61
    
    0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,
    0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62
    
    0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
    0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63
    
    0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,
    0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64
    
    0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,
    0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65
    
    0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,
    0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66
    
    0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,
    0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67
    
    0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,
    0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68
    
    0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,
    0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69
    
    0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,
    0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70
    
    0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,
    0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71
    
    0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,
    0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72
    
    0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,
    0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73
    
    0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,
    0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74
    
    0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,
    0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75
    
    0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,
    0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76
    
    0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,
    0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77
    
    0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,
    0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78
    
    0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,
    0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79
    
    0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,
    0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80
    
    0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,
    0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81
    
    0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,
    0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82
    
    0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,
    0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83
    
    0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,
    0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84
    
    0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,
    0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85
    
    0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,
    0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86
    
    0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,
    0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87
    
    0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,
    0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88
    
    0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,
    0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89
    
    0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,
    0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90
    
    0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,
    0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91
    
    0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,
    0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92
    
    0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,
    0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93
    
    0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,
    0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
};

#endif

舵机（注意5V供电！！！橙色接PWM，红色接5V，黑色接GND）

我使用的舵机模块是SG90，并使用stm32的TIM3的通道1输出PWM信号来控制旋转角度和方向，具体请详见代码和注释。


/*这里用TIM3的通道1来产生PWM信号调速舵机的旋转角度*/
void PWM_TIM3_Init(void)/*这个是TIM3的配置，和上面的说明一样*/
{
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);    
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
        
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA,&GPIO_InitStructure);
    
    TIM_InternalClockConfig(TIM3);
    
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
    TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInitStructure.TIM_Period = 20000 - 1;    //ARR
    TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1;    //PSC
    TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStructure);
    
    TIM_OCInitTypeDef TIM_OCInitStructure;
    TIM_OCStructInit(&TIM_OCInitStructure);
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCNPolarity_High;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 0;    //CCR的值
    
    TIM_OC1Init(TIM3,&TIM_OCInitStructure);
    
    TIM_Cmd(TIM3,ENABLE);
}

/*封装TIM的通道的调用函数，不封装也可以，看自己情况*/
void PWM_TIM3_SetCompare1(uint16_t Compare)    //TIM3 的通道1
{
    TIM_SetCompare1(TIM3,Compare);
}

L298N（我在关于PWM的讲解有介绍）

这里我放上小车的两路电机（4个电机，因为我采用并联方法，使一OUT1/OUT2，OUT3/OUT4分别驱动两个电机）所用到的PWM调速的文件。其中使用定时器TIM2的通道1和通道2


void PWM_TIM2_Init(void)/*配置TIM用来输出PWM波形时，要参考使用手册，因为它的GPIO口是官方确定的*/
{
    /*打开TIM和GPIO的时钟*/
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);    
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
    /*配置GPIO的输出模式、GPIO口、频率*/    
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;/*复用推挽输出*/
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA,&GPIO_InitStructure);/*GPIO初始化*/
    /**/
    TIM_InternalClockConfig(TIM2);
    /*这里通过ARR,PSC,CCR的值来计算计时频率和占空比的值*/
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
    TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInitStructure.TIM_Period = 100 - 1;    //ARR
    TIM_TimeBaseInitStructure.TIM_Prescaler = 720 - 1;    //PSC
    TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;/*确定占空比*/
    TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);
    /*这里配置输出比较单元*/
    TIM_OCInitTypeDef TIM_OCInitStructure;
    TIM_OCStructInit(&TIM_OCInitStructure);
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCNPolarity_High;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 0;    //CCR的值
    /*输出PWM波形的GPIO口的初始化*/
    TIM_OC1Init(TIM2,&TIM_OCInitStructure);    /*非常重要且容易忘记，配置好PWM的gpio口后一定要记得初始化*/
    TIM_OC2Init(TIM2,&TIM_OCInitStructure);
    /*使能TIM2*/
    TIM_Cmd(TIM2,ENABLE);
}

/*封装TIM的通道的调用函数，不封装也可以，看自己情况*/
void PWM_TIM2_SetCompare1(uint16_t Compare)    //TIM2 的通道1
{
    TIM_SetCompare1(TIM2,Compare);/*很重要，改变占空比参数就靠这个函数*/
}

void PWM_TIM2_SetCompare2(uint16_t Compare)    //TIM2 的通道2
{
    TIM_SetCompare2(TIM2,Compare);
}

电源（12V锂电池组，可充电）

多路输出的电源模块（稳压模块）

由于电源是12V，但是STM32最小系统板供电是3.3V，而且舵机和超声波是5V供电，所以我觉得这个模块是必不可少的东西。

五、通用功能的函数文件

延时函数


#include "stm32f10x.h"

/**
  * @brief  微秒级延时
  * @param  xus 延时时长，范围：0~233015
  * @retval 无
  */
void Delay_us(uint32_t xus)
{
    SysTick->LOAD = 72 * xus;                //设置定时器重装值
    SysTick->VAL = 0x00;                    //清空当前计数值
    SysTick->CTRL = 0x00000005;                //设置时钟源为HCLK，启动定时器
    while(!(SysTick->CTRL & 0x00010000));    //等待计数到0
    SysTick->CTRL = 0x00000004;                //关闭定时器
}

/**
  * @brief  毫秒级延时
  * @param  xms 延时时长，范围：0~4294967295
  * @retval 无
  */
void Delay_ms(uint32_t xms)
{
    while(xms--)
    {
        Delay_us(1000);
    }
}
 
/**
  * @brief  秒级延时
  * @param  xs 延时时长，范围：0~4294967295
  * @retval 无
  */
void Delay_s(uint32_t xs)
{
    while(xs--)
    {
        Delay_ms(1000);
    }
}

直流电机函数


#include "stm32f10x.h"                  // Device header
#include "Motor.h"
#include "PWM.h"


void Motor_R_Init(void)
{
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
    
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2|GPIO_Pin_3;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA,&GPIO_InitStructure);
    
    PWM_TIM2_Init();
}

void Motor_L_Init(void)
{
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
    
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_5;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA,&GPIO_InitStructure);
    
    PWM_TIM2_Init();
}

void Motor_R_SetSpeed(int8_t Speed)
{
    if(Speed>=0)
    {
        GPIO_SetBits(GPIOA,GPIO_Pin_2);
        GPIO_ResetBits(GPIOA,GPIO_Pin_3);
        PWM_TIM2_SetCompare1(Speed);
    }
    else
    {
        GPIO_SetBits(GPIOA,GPIO_Pin_3);
        GPIO_ResetBits(GPIOA,GPIO_Pin_2);
        PWM_TIM2_SetCompare1(-Speed);
    }
}
void Motor_L_SetSpeed(int8_t Speed)
{
    if(Speed>=0)
    {
        GPIO_SetBits(GPIOA,GPIO_Pin_4);
        GPIO_ResetBits(GPIOA,GPIO_Pin_5);
        PWM_TIM2_SetCompare2(Speed);
    }
    else
    {
        GPIO_SetBits(GPIOA,GPIO_Pin_5);
        GPIO_ResetBits(GPIOA,GPIO_Pin_4);
        PWM_TIM2_SetCompare2(-Speed);
    }
}

小车运动函数


#include "stm32f10x.h"                  // Device header
#include "Car.h"
#include "Motor.h"

void Car_Init(void)
{
    Motor_R_Init();
    Motor_L_Init();
}

void Car_Forword(uint8_t Speed)
{
    Motor_R_SetSpeed(Speed);
    Motor_L_SetSpeed(Speed);
}

void Car_Back(uint8_t Speed)
{
    Motor_R_SetSpeed(-Speed);
    Motor_L_SetSpeed(-Speed);
}

void Car_Left(uint8_t Speed)
{
    Motor_R_SetSpeed(Speed);
    Motor_L_SetSpeed(-Speed);
}

void Car_Right(uint8_t Speed)
{
    Motor_R_SetSpeed(-Speed);
    Motor_L_SetSpeed(Speed);
}

void Car_Stop(void)
{
    Motor_R_SetSpeed(0);
    Motor_L_SetSpeed(0);
}

PWM调速（我有对PWM专门的讲解文章，不懂的话可以去看看关于PWM的讲解）


#include "stm32f10x.h"                  // Device header
#include "PWM.h"  

void PWM_TIM2_Init(void)/*配置TIM用来输出PWM波形时，要参考使用手册，因为它的GPIO口是官方确定的*/
{
    /*打开TIM和GPIO的时钟*/
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);    
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
    /*配置GPIO的输出模式、GPIO口、频率*/    
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;/*复用推挽输出*/
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA,&GPIO_InitStructure);/*GPIO初始化*/
    /**/
    TIM_InternalClockConfig(TIM2);
    /*这里通过ARR,PSC,CCR的值来计算计时频率和占空比的值*/
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
    TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInitStructure.TIM_Period = 100 - 1;    //ARR
    TIM_TimeBaseInitStructure.TIM_Prescaler = 720 - 1;    //PSC
    TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;/*确定占空比*/
    TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);
    /*这里配置输出比较单元*/
    TIM_OCInitTypeDef TIM_OCInitStructure;
    TIM_OCStructInit(&TIM_OCInitStructure);
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCNPolarity_High;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 0;    //CCR的值
    /*输出PWM波形的GPIO口的初始化*/
    TIM_OC1Init(TIM2,&TIM_OCInitStructure);    /*非常重要且容易忘记，配置好PWM的gpio口后一定要记得初始化*/
    TIM_OC2Init(TIM2,&TIM_OCInitStructure);
    /*使能TIM2*/
    TIM_Cmd(TIM2,ENABLE);
}


/*这里用TIM3的通道1来产生PWM信号调速舵机的旋转角度*/
void PWM_TIM3_Init(void)/*这个是TIM3的配置，和上面的说明一样*/
{
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);    
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
        
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA,&GPIO_InitStructure);
    
    TIM_InternalClockConfig(TIM3);
    
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
    TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInitStructure.TIM_Period = 20000 - 1;    //ARR
    TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1;    //PSC
    TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStructure);
    
    TIM_OCInitTypeDef TIM_OCInitStructure;
    TIM_OCStructInit(&TIM_OCInitStructure);
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCNPolarity_High;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 0;    //CCR的值
    
    TIM_OC1Init(TIM3,&TIM_OCInitStructure);
    
    TIM_Cmd(TIM3,ENABLE);
}

/*封装TIM的通道的调用函数，不封装也可以，看自己情况*/
void PWM_TIM2_SetCompare1(uint16_t Compare)    //TIM2 的通道1
{
    TIM_SetCompare1(TIM2,Compare);/*很重要，改变占空比参数就靠这个函数*/
}

void PWM_TIM2_SetCompare2(uint16_t Compare)    //TIM2 的通道2
{
    TIM_SetCompare2(TIM2,Compare);
}

void PWM_TIM3_SetCompare1(uint16_t Compare)    //TIM3 的通道1
{
    TIM_SetCompare1(TIM3,Compare);
}

按键函数


#include "stm32f10x.h"                  // Device header
#include "Key.h"
#include "Delay.h"


void Key_Init(void)
{
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
    
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_5;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB,&GPIO_InitStructure);
}

uint8_t Key_GetNum(void)
{
    uint8_t KeyNum = 0;
    if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_3) == 0)
    {
        Delay_ms(20);
        while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_3) == 0);
        Delay_ms(20);
        KeyNum=1;
    }
    if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_5) == 0)
    {
        Delay_ms(20);
        while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_5) == 0);
        Delay_ms(20);
        KeyNum=2;
    }
    return KeyNum;
}

蜂鸣器


#include "stm32f10x.h"                  // Device header
#include "Buzzer.h"
#include "Delay.h"

void Buzzer_Init(void)
{
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
    
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB,&GPIO_InitStructure);
}

void Buzzer_OFF(void) //关闭蜂鸣器
{
    Buzzer_Init();
    GPIO_SetBits(GPIOB,GPIO_Pin_11);    //GPIOB设置为高电平
}

void Buzzer_ON1(void)
{
    Buzzer_Init();
    GPIO_ResetBits(GPIOB,GPIO_Pin_11);    //GPIOB设置为d电平
}

void Buzzer_ON2(void) //打开蜂鸣器
{
    Buzzer_Init();
    GPIO_ResetBits(GPIOB,GPIO_Pin_11);    //GPIOB设置为低电平
    Delay_ms(100);
    GPIO_SetBits(GPIOB,GPIO_Pin_11);    //GPIOB设置为高电平
    Delay_ms(100);
    
    GPIO_ResetBits(GPIOB,GPIO_Pin_11);    //GPIOB设置为低电平
    Delay_ms(100);
    GPIO_SetBits(GPIOB,GPIO_Pin_11);    //GPIOB设置为高电平
    Delay_ms(700);

}

提示灯


#include "stm32f10x.h"                  // Device header
#include "LED.h"
#include "Delay.h"

void LED_Init(void)
{
    //第一步，使能GPIO的时钟
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
    //第二步，定义GPIO的初始化结构体类型
    GPIO_InitTypeDef GPIO_InitStructure;
    //第三步，配置GPIO的输出类型为推挽输出
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    //第四步，配置GPIO的引脚
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_1;
    //第五步，配置GPIO的输出速度
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    //第六步，初始化GPIOx的寄存器
    GPIO_Init(GPIOB,&GPIO_InitStructure);
    
//    GPIO_ResetBits(GPIOA,GPIO_Pin_0);    //GPIOA设置为低电平，LED点亮
//    GPIO_SetBits(GPIOA,GPIO_Pin_0);        //GPIOA设置为高电平，LED灭
//    GPIO_WriteBit(GPIOA,GPIO_Pin_0,Bit_RESET);    //LED亮
//    GPIO_WriteBit(GPIOA,GPIO_Pin_0,Bit_SET);    //LED灭
}

void LED_ON(void)
{
    LED_Init();
    GPIO_WriteBit(GPIOB,GPIO_Pin_1,Bit_RESET);    //LED亮
}

void LED_OFF(void)
{
    LED_Init();
    GPIO_WriteBit(GPIOB,GPIO_Pin_1,Bit_SET);    //LED灭
    Delay_ms(500);
}

void LED_Flash_ON(void)
{
    LED_Init();
    GPIO_WriteBit(GPIOB,GPIO_Pin_10,Bit_RESET);    //LED亮
    Delay_ms(500);
    GPIO_WriteBit(GPIOB,GPIO_Pin_10,Bit_SET);    //LED灭
    Delay_ms(500);
}

void LED_Flash_OFF(void)
{
    LED_Init();
    GPIO_WriteBit(GPIOB,GPIO_Pin_10,Bit_RESET);    //LED灭
}

六、主函数

main.c


#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "OLED.h"
#include "Motor.h"
#include "PWM.h"  
#include "LED.h"
#include "Car.h"
#include "SG90.h"
#include "Ultrasonic.h"
#include "Timer.h"
#include "Buzzer.h"
#include "Key.h"
#include "Serial.h"
#include "Hc05.h"

uint8_t Speed = 50;  /*速度范围为[0,100]*/
uint8_t KeyNum;
uint8_t Mode=0;
//extern uint8_t RxData;

int main(void)
{
    OLED_Init();
    Car_Init();
    Key_Init();
    Serial_Init();
    SG90_Servo_Init();
    Ultrasonic_GPIO_Init();
    
    OLED_ShowString(1,1,"Dist:");
    OLED_ShowString(2,1,"Speed:");
    OLED_ShowString(3,1,"MOde:");
    
    while(1)
    {
        Mode = Key_GetNum();
        OLED_ShowNum(3,6,Mode,3);
        if(Mode)
        {
            switch(Mode)
            {
                case 1: Hc05_car();break;
                case 2: Ultrasonic_car();break;
            }
        }  
    }
}

七、电路连接表述

电路连接的时候一定要细心，防止出现短路的情况。接下来，我会描述一下我的电路连接思路，供大家参考一下。

首先从电源出发，电源正负极分别接到L298N的12V和GND位置上，这样就可以给L298N供电，使其驱动4个直流电机。再把12V的电源正负极接到稳压模块上，把电压降到5V和3.3V，这样就可以用3.3V来给stm32最小系统板供电，5V来给舵机和超声波以及蓝牙模块供电。

接4个电机时采用并联的方法，这里不太好描述，上个图片一目了然！！

像这样，应该很容易理解吧！

最后就是操作步骤了：连接好电路，打开开关，此时OLED显示屏上的第三行内容是Mode：000，这时如果按下B5引脚上的按键，Mode;002，这时候就开始了超声波避障模式。如果按下B3引脚上的按键，Mode;001，这时候就是蓝牙控制模式，打开手机连接蓝牙，操作自己设置的键盘就可以控制小车了。（补充;OLED显示屏第一行内容是Dist：，它显示的是超声波模式下探测到的距离的实时值。第二行内容是Speed：，它显示的是小车的速度值）