目录
前言
学完江科大的stm32 就迫不及待想找个项目练练手,于是就先做了一个比较基础的智能小车项目,没有去设计板子,直接用的江科大的面包板做的一个简易的小车。这个过程还是遇到了一些困难,下面我以一个小白的视角把我自己遇到的问题分享出来供大家参考,编程全部采用模块化编程,可以随意拓展自己喜欢的功能
配置清单
- STM32C8T6核心板
- 小车底盘4WD(拼多多上面购买 会送4个电机)
- HC-SR04超声波测距模块
- sg舵机
- TB6612电机驱动模块
- HC-05蓝牙串口透穿模块
- 4节五号电池
代码实现
1.TB6612驱动4路电机
一个tb6612上面的接口只能驱动2个电机,,这里采用了串联的方式实现驱动4个电机转动,AO1、AO2、BO2、BO1分贝引出两根线
电机驱动代码(Motor.c)
#include "stm32f10x.h" // Device header
#include "PWM.h"
void MotorAll_Init(void)
{
//开启电机驱动口的四个GPIO口
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推挽输出
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5|GPIO_Pin_6| GPIO_Pin_7;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
PWM_Init();
}
//当IN1和IN2之间有电压差,即一个为1,一个为0时,电机转动
void MotorR_SetSpeed(int8_t Speed) //右轮
{
if (Speed >= 0) //正转
{
GPIO_ResetBits(GPIOA, GPIO_Pin_4); //低
GPIO_SetBits(GPIOA, GPIO_Pin_5); //高
PWM_SetCompare1(Speed);
}
else
{
GPIO_SetBits(GPIOA, GPIO_Pin_4); //高
GPIO_ResetBits(GPIOA, GPIO_Pin_5); //低
PWM_SetCompare1(-Speed);
}
}
void MotorL_SetSpeed(int8_t Speed) //左轮
{
if (Speed >= 0)
{
GPIO_SetBits(GPIOA, GPIO_Pin_6);
GPIO_ResetBits(GPIOA, GPIO_Pin_7);
PWM_SetCompare2(Speed);
}
else
{
GPIO_ResetBits(GPIOA, GPIO_Pin_6);
GPIO_SetBits(GPIOA, GPIO_Pin_7);
PWM_SetCompare2(-Speed);
}
}
利用pwm控制电机速度(PWM.c)
#include "stm32f10x.h" // Device header
void PWM_Init(void)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, 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_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_InternalClockConfig(TIM2);
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 = 36 - 1; //PSC
TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0; //CCR
//PWM接口的占空比越大,速度越小
TIM_OC1Init(TIM2, &TIM_OCInitStructure); //设置PWM通道的占空比
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_Cmd(TIM2, ENABLE);
}
void PWM_SetCompare1(uint16_t Compare) //设置CCR寄存器的值
{
TIM_SetCompare1(TIM2, Compare);
}
void PWM_SetCompare2(uint16_t Compare)
{
TIM_SetCompare2(TIM2, Compare);
}
2.蓝牙控制小车运动
搞这个蓝牙模块可是废了老大劲了,我买的电池电压不够,后面直接用usb转ttl直接插在充电宝上给stm32供电,一个新的蓝牙模块拿到手上必须先用串口连接电脑进入AT模式配置基本参数,修改密码和名字等等,具体步骤可以参考csdn,蓝牙模块的代码就是直接照搬江科大的串口通信代码,接线的时候,需要注意蓝牙模块的TX接口要接stm32的RX接口,反正如果上电发指令没反应就把A9和A10的接线换一下,若出现断连(即之前连接成功,但突然断开)情况,大概率是因为供电不足。手机上的蓝牙软件很多应用商店搜一下就有了调试全能王、蓝牙调试器。。。。。
(Serial.c)
#include "stm32f10x.h" // Device header
#include <stdio.h>
#include <stdarg.h>
uint8_t Serial_RxData;
uint8_t Serial_RxFlag;
void Serial_Init(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1,ENABLE); //串口端口使能
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE); //GPIO端口使能
//初始化GPIO引脚
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //TX
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&GPIO_InitStructure); //(初始化GPIOA外设,结构体变量名 使用值传递)
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //上拉输入
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; //RX
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&GPIO_InitStructure); //(初始化GPIOA外设,结构体变量名 使用值传递)
//初始化USART
USART_InitTypeDef USART_InitStructure;
USART_InitStructure.USART_BaudRate = 9600; //波特率
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //硬件流控制 无流控
USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx; //串口模式 TX——发送模式 Rx——接收模式
USART_InitStructure.USART_Parity = USART_Parity_No; //校验位
USART_InitStructure.USART_StopBits = USART_StopBits_1; //停止位
USART_InitStructure.USART_WordLength = USART_WordLength_8b; //字长
USART_Init(USART1, &USART_InitStructure);
// 开启中断
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);
}
//发送数据的函数
void Serial_SendByte(uint8_t Byte)
{
USART_SendData(USART1, Byte);
while (USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
}
//发送数组的函数
void Serial_SendArray(uint8_t *Array, uint16_t Length) //传递数组需要使用指针
{
uint16_t i;
for (i = 0; i < Length; i ++)
{
Serial_SendByte(Array[i]);
}
}
//发送字符串
void Serial_SendString(char *String)
{
uint8_t i;
for (i = 0; String[i] != '\0'; i ++)
{
Serial_SendByte(String[i]);
}
}
//次方函数
uint32_t Serial_Pow(uint32_t X, uint32_t Y)
{
//X 的 Y 次方
uint32_t Result = 1;
while (Y --)
{
Result *= X;
}
return Result;
}
//发送一个数字
//把数字各个位数以十进制拆开
void Serial_SendNumber(uint32_t Number, uint8_t Length)
{
uint8_t i;
for (i = 0; i < Length; i ++)
{
Serial_SendByte(Number / Serial_Pow(10, Length - i - 1) % 10 + '0'); //参数以十进制从高位到低位依次发送
}
}
// 移植printf函数
int fputc(int ch,FILE *f)
{
Serial_SendByte(ch);
return ch;
}
//读后自动清除
uint8_t Serial_GetRxFlag(void)
{
if (Serial_RxFlag == 1)
{
Serial_RxFlag = 0;
return 1;
}
return 0;
}
uint8_t Serial_GetRxData(void)
{
return Serial_RxData;
}
封装车子的运动代码(Car.c)
#include "stm32f10x.h" // Device header
#include "Motor.h"
void Car_Init()
{
MotorAll_Init();
}
void Go_Ahead() //前进
{
MotorR_SetSpeed(100);
MotorL_SetSpeed(100);
}
void Go_Back() //后退
{
MotorR_SetSpeed(-100);
MotorL_SetSpeed(-100);
}
void Turn_Left() //左转
{
MotorR_SetSpeed(100);
MotorL_SetSpeed(0);
}
void Turn_Right() //右转
{
MotorR_SetSpeed(0);
MotorL_SetSpeed(100);
}
void Self_Left() //原地向左自转
{
MotorR_SetSpeed(100);
MotorL_SetSpeed(-100);
}
void Self_Right() //原地向左自转
{
MotorR_SetSpeed(-100);
MotorL_SetSpeed(100);
}
void Car_Stop() //停车
{
MotorR_SetSpeed(0);
MotorL_SetSpeed(0);
}
3.舵机旋转
这里也会用到pwm控制我们单独再写一个和前面控制小车速度的pwm分开,前面用的定时器2,这个就用定时器3
(PWMServo.c)
#include "stm32f10x.h" // Device header
void PWM_Init2(void)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &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_OCPolarity_High;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0; //CCR
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_Cmd(TIM3, ENABLE);
}
void PWM_2SetCompare3(uint16_t Compare)
{
TIM_SetCompare3(TIM3, Compare);
}
舵机控制代码(Servo.c),这些代码江科大视频里面都讲得很清楚,这里就不在叙述了
#include "stm32f10x.h" // Device header
#include "PWMServo.h"
void Servo_Init(void)
{
PWM_Init2();
}
// 0度 500
// 180度 2500
void Servo_SetAngle(float Angle) //舵机设置角度
{
PWM_2SetCompare3(Angle/180*2000+500);
}
4.超声波测距模块
超声波和舵机要搭配使用,需要自己去淘宝购买支架将他们组装起来,这2个外设是实现小车自动避障功能的
超声波代码(Ultrasound.c)
#include "stm32f10x.h" // Device header
#include "Delay.h"
uint16_t Cnt;
uint16_t OverCnt;
void Ultrasound_Init(){
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;//trig
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;//echo
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
TIM_InternalClockConfig(TIM4);
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStructure.TIM_Period = 60000 - 1; //ARR
TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1; //PSC
TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseInitStructure);
}
float Test_Distance(){
GPIO_SetBits(GPIOB,GPIO_Pin_12);
Delay_us(20);
GPIO_ResetBits(GPIOB,GPIO_Pin_12);
while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_13)==RESET){
};
TIM_Cmd(TIM4, ENABLE);
while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_13)==SET){
};
TIM_Cmd(TIM4, DISABLE);
Cnt=TIM_GetCounter(TIM4);
float distance=(Cnt*1.0/10*0.34)/2;
TIM4->CNT=0;
Delay_ms(100);
return distance;
}
自动避障代码(Auto.h)
#include "stm32f10x.h" // Device header
#include "Car.h"
#include "Servo.h"
#include "Delay.h"
#include "Ultrasound.h"
#include "Serial.h"
//×Ô¶¯±ÜÕÏÄ£¿é
void Auto()
{
uint16_t a = Test_Distance();
Serial_SendString("Obstacle distance ");
Serial_SendNumber(a,3);
Serial_SendString("cm\n");
if(a<15){
Car_Stop();
Servo_SetAngle(0); //舵机朝右边转一下
Delay_ms(1000); //延长1s
uint16_t b= Test_Distance(); //测试右边的距离
Serial_SendString("Obstacle distance ");
Serial_SendNumber(b,3);
Serial_SendString("cm\n");
if(b>15){
Servo_SetAngle(130); //让超声波探头正式前方
Delay_ms(1000);
Self_Right();
Delay_ms(1500);
Go_Ahead();
}
else {
Servo_SetAngle(180); //舵机朝左边转一下
Delay_ms(1000);
uint16_t c= Test_Distance(); //测试左边的距离
Serial_SendString("Obstacle distance ");
Serial_SendNumber(c,3);
Serial_SendString("cm\n");
if(c>15){
Servo_SetAngle(130);
Delay_ms(1000);
Self_Left();
Delay_ms(1500);
Go_Ahead();
}else{
Servo_SetAngle(130);
Go_Back();
Delay_ms(3000);
Self_Right();
Delay_ms(1500);
Go_Ahead();
}
}
}
Delay_ms(100); //每隔100ms测试一次距离
}
5.主函数
在手机蓝牙APP里面发送相应指令车子就能做出动作 ,比如发送31车子就会前进。。。
#include "stm32f10x.h" // Device header
#include "Delay.h"
#include "OLED.h"
#include "Motor.h"
#include "Car.h"
#include "Serial.h"
#include "Key.h"
#include "Servo.h"
#include "Ultrasound.h"
#include "Auto.h"
uint16_t Data1;
int main(void)
{
Car_Init();
Serial_Init(); //蓝牙通信初始化
Servo_Init(); //舵机
Servo_SetAngle(130); //让超声波测距探头正视前方
Ultrasound_Init(); //超声波测距模块初始化
while(1)
{
Auto(); //自动避障
}
}
//蓝牙通信中断函数
void USART1_IRQHandler(void)
{
if (USART_GetITStatus(USART1, USART_IT_RXNE) == SET)
{
Data1 = USART_ReceiveData(USART1);
if(Data1 == 0x30)
Car_Stop();
if(Data1 == 0x31)
Go_Ahead();
if(Data1 == 0x32)
Go_Back();
if(Data1 == 0x33)
Turn_Left();
if(Data1 == 0x34)
Turn_Right();
if(Data1 == 0x35)
Self_Left();
if(Data1 == 0x36)
Self_Right();
if(Data1 == 0x37)
Servo_SetAngle(0);
if(Data1 == 0x38)
Servo_SetAngle(90);
if(Data1 == 0x39)
Servo_SetAngle(180);
USART_ClearITPendingBit(USART1, USART_IT_RXNE);
}
}
接线图
舵机的 橙色线 接 B0 红色正极,棕色负极
TB6612电机驱动模块 PWMA-A0、AIN2-A5、AIN1-A4、STBY-正极、BIN1-A6、BIN2-A7、PWMB-A1、VM-正极、VCC-正极、GND-负极
HC-05蓝牙模块 RX-A9 TX-A10
超声波测距模块 trig-B12 echo-B13
电源-随便接在面包板正负极就行 注意:先用一些短线把面包板的正负极和最小系统板连通
总结
小车只实现了一些简单的功能,学完江科大的视频就能上手,如果还有疑问可以 看看这个视频,如果有需要改进优化的地方还请求大家积极指出
智能小车制作教程(基于stm32)_哔哩哔哩_bilibilihttps://www.bilibili.com/video/BV1yM4y1J78r/?spm_id_from=333.1007.top_right_bar_window_custom_collection.content.click&vd_source=0ca4e898b61a53eea12c3cbc258a5551
完整代码:链接:https://pan.baidu.com/s/1gSStigM8D4tBkC2i17q6RA?pwd=abcd
提取码:abcd