stm32项目平衡车详解(stm32F407)下
HC-SRO4 超声波测距避障功能开发
TSL1401 CCD摄像头实现小车巡线功能
小车通信功能分析及ESP32模块介绍
oled 显示置入屏幕显示小车状态
文章目录
前言
前面我们已经实现了平衡小车的直立环,平衡环,转向环,下面我们将实现小车平衡小车蔽障与巡线功能的开发。如下如所示:
一、HC-SRO4 超声波测距避障功能开发
HC-SRO4超声波测距模块?
HC- SR04是一种超声波接近传感器,可以告诉您物体是否在它前面,并且还提供传感器和物体之间的距离。这些传感能力使其特别适用于需要知道远离物体或障碍物的机器人,例如墙壁或不应撞击的家具。
超声波测距避障功能开发
cube 搭建工程项目
下面给中断使能
启动定时器TIM7 去计时
避障模式开发
避障模式原理就是通过超声波加测距离,通过转向来躲避障碍物。所以我们会用转向环来控制小车转向。
//启动超声波,检测距离
//启动超声波检测函数
void HC_SRC04_Start(void)
{
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0, GPIO_PIN_SET); //设置高电平启动
delay_us(20);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0, GPIO_PIN_RESET); //设置高低平启动
}
调用定时器中毒阿女函数进行计数,利用声音传播速度和接收时间测算距离
/**
* @brief This function handles TIM7 global interrupt.
*/
void TIM7_IRQHandler(void)
{
/* USER CODE BEGIN TIM7_IRQn 0 */
/* USER CODE END TIM7_IRQn 0 */
HAL_TIM_IRQHandler(&htim7);
/* USER CODE BEGIN TIM7_IRQn 1 */
/* USER CODE END TIM7_IRQn 1 */
}
/* USER CODE BEGIN 1 */
uint8_t ECHO_IRQ_FLAG = 0;
uint8_t time_cnt = 0; //参数二,溢出次数
static uint8_t last_distence =0;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
int time = 0;
if(GPIO_Pin == GPIO_PIN_1)
{
if(ECHO_IRQ_FLAG == 0) //上升沿中断
{
ECHO_IRQ_FLAG=1;
HAL_TIM_Base_Start_IT(&htim7); //开启定时器,开始计时
}else{
ECHO_IRQ_FLAG = 0; //下降沿中断
HAL_TIM_Base_Stop_IT(&htim7);//关闭定时器,计时结束
time = time_cnt*1000 + TIM7->CNT / 2; //统计声(单次)音返回时间
Distence = 340*100* time /1000000; //微妙转化为秒
if(Distence == 0) Distence = last_distence;
else last_distence = Distence;
}
}
}
配合pid 控制函数,使用超声波测距的距离,进行避障,小车达到避障距离就开始转弯避障,(避障距离建议超过小车直径即可)
int Balance_Pwm,Vertical_Pwm,Trun_Pwm;
int Motor1,Motor2;
int Encoder_left,Encoder_right;
float Movement = 0; //目标速度
int CCD; //目标角度
int FS_MODE; //0 遥控模式1,避障模式 2巡线模式
int Distence; //检测小车与障碍物的距离
//PID控制任务
void Car_Task_100HZ(void)
{
//启动超声波检测模式
HC_SRC04_Start();
//1、确定直立环的PWM
Balance_Pwm = Vertical_Ring_PD(OutMpu.pitch,OutMpu.gyro_x); //*形参:(float Angle):x轴的角度/(float Gyro):x轴的角速度
//2、确定速度环的PWM
Encoder_left = Read_Encoder(1); //左轮
Encoder_right = -Read_Encoder(2); //右轮
Vertical_Pwm = Vertical_speed_PI(Encoder_left,Encoder_right,OutMpu.pitch,Movement);
//3、确定方向环的PWM
if(FS_MODE == 0) //遥控模式
Trun_Pwm = Vertical_turn_PD(CCD,OutMpu.yaw);
else if(FS_MODE == 1) //避障模式
{
if(Distence < 20) //直线距离在20cm 直接转向 20度
Trun_Pwm = Vertical_turn_PD(20,OutMpu.yaw); //直接转向 20度
else
Trun_Pwm = 0; //直行
}
else if(FS_MODE == 2) //巡线模式
{
}
//4、确定最终电机的左右pwm
Motor1 = Balance_Pwm+Vertical_Pwm+Trun_Pwm;
Motor2 = Balance_Pwm+Vertical_Pwm-Trun_Pwm;
PWM_Limiting((int) Motor1,(int) Motor2);
//4、设置电机
Set_PWM(Motor1,Motor2); //*形参;(int motor1):电机1对应的PWM值/(int motor2):电机2对应的PWM值
}
}
二、TSL1401 CCD摄像头实现小车巡线功能
巡线就是小车按照轨迹进行一定的运动,我们通过设计头模块进项轨迹实施采集分析调整车辆运动方向。
TSL1401 CCD摄像头?
CCD采集到外部像素,感应光线的强度通过AD 输出
不同的光线强度的灰度值是不一样的,通过信号传输给控制器,控制器根据灰度值来确定我们的条件。
上图所从左到右,由亮变暗在变亮,中间黑色区域是最暗大的,我们使用线性 就是横排采集一条线,判断内容。
上图看到SI由采集的到最后AD输出的电压值。
巡线小车功能开发(编写程序)
电路图如下:
TSL1401 示例代码如下:
/**
******************************************************************************
* File Name : main.c
* Description : Main program body
******************************************************************************
** This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* COPYRIGHT(c) 2018 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f0xx_hal.h"
#include "adc.h"
#include "usart.h"
#include "gpio.h"
/* USER CODE BEGIN Includes */
#include "stdio.h"
#include <math.h>
#define CCD_MIDDLE 0
#define CCD_THRESHOLD 1
#define CCD_LEFT 2
#define CCD_RIGHT 3
#define TSL_CLK_H HAL_GPIO_WritePin(GPIOA,GPIO_PIN_6,GPIO_PIN_SET)
#define TSL_CLK_L HAL_GPIO_WritePin(GPIOA,GPIO_PIN_6,GPIO_PIN_RESET)
#define TSL_SI_H HAL_GPIO_WritePin(GPIOA,GPIO_PIN_7,GPIO_PIN_SET)
#define TSL_SI_L HAL_GPIO_WritePin(GPIOA,GPIO_PIN_7,GPIO_PIN_RESET)
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif
PUTCHAR_PROTOTYPE
{
HAL_UART_Transmit(&huart1 , (uint8_t *)&ch, 1, 0xFFFF);
return ch;
}
/* USER CODE END Includes */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE END PFP */
/* USER CODE BEGIN 0 */
uint16_t ADV[128]={
0};
uint8_t i;
struct tCCD
{
uint16_t middle; //中间位置值
uint16_t threshold; //像素ad阈值
uint16_t left; //左跳变的位置
uint16_t right; //右跳变的位置
};
struct tCCD CCD;
/**************************************************************************************************
*函数名:abs()
*功能:将数进行绝对值处理
*形参:number 需要进行绝对值处理的数
*返回值:经过处理后绝对值
**************************************************************************************************/
int abs (int number)
{
return( number>=0 ? number : -number );
}
/**************************************************************************************************
*函数名:Dly_us()
*功能:延时函数,用来调整CCD曝光
*形参:无
*返回值:无
***************************************************************************************************/
void Dly_us(void)
{
int ii;
for(ii=0;ii<220;ii++);
}
/**************************************************************************************************
*函数名:Get_Adc()
*功能:得到CCD数据
*形参:无
*返回值:读取到的电压值
***************************************************************************************************/
uint16_t Get_Adc(void)
{
HAL_ADC_Start(&hadc);
HAL_ADC_PollForConversion(&hadc, 50);
if(HAL_IS_BIT_SET(HAL_ADC_GetState(&hadc), HAL_ADC_STATE_REG_EOC))
return HAL_ADC_GetValue(&hadc);
else
while(1);
}
/***************************************************************************************************
*函数名:RD_TSL()
*功能:读取CCD原始数据
*形参:无
*返回值:无
****************************************************************************************************/
void RD_TSL(void)
{
uint8_t i=0,tslp=0;
TSL_CLK_H;
TSL_SI_L;
Dly_us();
TSL_SI_H;
TSL_CLK_L;
Dly_us();
TSL_CLK_H;
TSL_SI_L;
Dly_us();
for(i=0;i<128;i++){
TSL_CLK_L;
Dly_us();
ADV[tslp]=(Get_Adc())>>4;
++tslp;
TSL_CLK_H;
Dly_us();
}
}
/************************************************************************************************************************
*函数名:Find_Middle_CCD()
*功能:读取CCD中值
*形参:无
*返回值:CCD中值位置
*************************************************************************************************************************/
uint8_t Find_CCD_DATA(void)
{
static uint8_t i,j;
//static uint8_t Last_Middle_CCD;
uint8_t Middle_CCD_Value;
static uint16_t value1_max,value1_min;
value1_max=ADV[0];
//读取最大值
for(i=5;i<123;i++){
if(value1_max<=ADV[i])
value1_max=ADV[i];
}
value1_min=ADV[0];
//得到最小值
for(i=5;i<123;i++){
if(value1_min>=ADV[i])
value1_min=ADV[i];
}
//计算阈值
CCD.threshold=(value1_max+value1_min)/2;
//计算左跳变值
for(i = 5;i<118; i++){
if(ADV[i]>CCD.threshold&&ADV[i+1]>CCD.threshold&&ADV[i+2]>CCD.threshold&&ADV[i+3]<CCD.threshold&&ADV[i+4]<CCD.threshold&&ADV[i+5]<CCD.threshold){
CCD.left=i;
break;
}
}
//计算右跳变值
for(j = 118;j>5; j--){
if(ADV[j]<CCD.threshold&&ADV[j+1]<CCD.threshold&&ADV[j+2]<CCD.threshold&&ADV[j+3]>CCD.threshold&&ADV[j+4]>CCD.threshold&&ADV[j+5]>CCD.threshold){
CCD.right=j;
break;
}
}
//计算中值
CCD.middle =(CCD.right+CCD.left)/2;
// if(abs(Middle_CCD_Value-Last_Middle_CCD)>70){
// Middle_CCD_Value=Last_Middle_CCD;
// Last_Middle_CCD=Middle_CCD_Value;
// }
return Middle_CCD_Value;
}
/***************************************************************************************************************************/
void ANO_Send_Data(void)
{
HAL_UART_Transmit(&huart1,(uint8_t *)&CCD,sizeof(CCD)