基于stm32的寻迹，跟随，避障小车

最新推荐文章于 2024-05-18 18:02:50 发布

yangdongdeboke

最新推荐文章于 2024-05-18 18:02:50 发布

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文章标签： stm32 小车寻迹，避障，跟随

本文链接：https://blog.csdn.net/weixin_51374594/article/details/134901725

版权

这一篇博客在原理与硬件上和51的相同，但是与51相比，这里增加了转向的差速度。51只有两个定时器，分别给了舵机还有超声波传感器。32这里不受定时器的限制，，因此可以使用额外得定时器制造PWM波形成差速度，在拐弯的时候更加丝滑。硬件的简绍以及语音模块的配置可以参考我51的博客，http://t.csdnimg.cn/4mqbm，我就不细说这些了。我会给出接口的引脚，全部需要手写的程序，以及我遇到的问题，还有部分的讲解。

一、接口介绍

寻迹模块

左DO接PB3,右DO接PB4

跟随模块

左out接PA8,右out接PA9

超声波模块

Trig接PA10,Echo接PA11

舵机模块

橙黄色信号线接PB9

oled显示模块

SDA接PB7,SCL接PB6

2路L9110s模块

左轮：A-1A接PA7,A-1B接PA6

右轮：B-1A接PB1,B-1B接PB0

SU-03T语音模块

A25接PB13

A26接PB14

A27接PB15,电压一定要接5v，否则带不动

至于其余传感器的电压，我就不一个一个的说了，大家使用的时候自己看看传感器的手册，同时也可以结合面包板的性质来供电。下图是使用GPIO的配置

二、stm32cube及语音模块的配置

SYS,RCC照旧

TIM2要作为制作毫秒的定时器用，配置如下。PSC为71，ARR为65535，开启自动重装，对于72MHz的定时器2来说，这样的配置刚好定时1秒。

TIM3的通道1,2,3,4分别作为左轮和右轮的驱动通道，配置如下，PSC为71，ARR为20，开启自动重装；四个通道的配置一样。

TIM4的通道4配置如下

I2C1的配置如下

SU-03T语音模块的配置

具体的步骤我就不写了，在51里写的和清楚，可以去看一看，我就给出重要的东西，细枝末节的可以回看51的博客，这是配置SU-03T语音模块的平台http://www.smartpi.cn/#/YzsM

三、代码部分

main.c

#include "sg90.h"
#include "sr04.h"
#include "motor.h"
#include "oled.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
#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 A25 HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_13)
#define A26 HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_14)
#define A27 HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_15)
/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
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);
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
	int mark = 0;
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM4_Init();
  MX_TIM2_Init();
  MX_I2C1_Init();
  MX_TIM3_Init();
  /* USER CODE BEGIN 2 */
	HAL_NVIC_SetPriority(SysTick_IRQn,0,0);
	initSG90();
	HAL_Delay(1000);
	dir = MIDDLE;
	Oled_Init();
	Oled_Screen_Clear();
	Oled_Show_Str(2,2,"-----Ready----");
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
		//满足寻迹模式的条件
		if(A25 == 0 && A26 == 1 && A27 == 1){
			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 == 1 && A26 == 0 && 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 == 1 && A27 == 0){
			if(mark != BZ){
				Oled_Screen_Clear();
				Oled_Show_Str(2,2,"-----BiZhang----");
			}
			mark = BZ;
			bizhangMode();
		}
  }
	HAL_Delay(50);
  /* USER CODE END 3 */
}

sg90.c

#include "sg90.h"
#include "gpio.h"
#include "tim.h"

void initSG90(void)
{
	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, 12); //将舵机置为45度
}

void sgLeft(void)
{
	__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 20); //将舵机置为135度
}

sr04.c

#include "sr04.h"
#include "gpio.h"
#include "tim.h"

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(GPIOA, GPIO_PIN_10, GPIO_PIN_SET);//拉高
		TIM2_Delay_us(20);
		HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, 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(GPIOA, GPIO_PIN_11) == 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(GPIOA, GPIO_PIN_11) == 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
}

motor.c

#include "motor.h"
#include "gpio.h"
#include "tim.h"

void PWM_Start(void)
{
	HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2);
	HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_3);
  HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);
}

void goForward(void)
{
PWM_Start();
	// 左轮
	__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_1, 20);
  __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_1,1);

	// 右轮
	__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, 20);
  __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 1);
}

void goBack(void)
{
	PWM_Start();
  // 左轮
	__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_1, 1);
  __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2, 20);

	// 右轮
	__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, 1);
  __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 20);
}

void goLeft(void)
{
	PWM_Start();
	// 左轮
	__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_1, 19);
  __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2, 6);
	// 右轮
	__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, 19);
  __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 1);
}

void goRight(void)
{
	PWM_Start();
	// 左轮
	__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_1, 19);
  __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2, 1);
	// 右轮
	__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, 19);
  __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 6);
}

void stop(void)
{
	PWM_Start();
	// 左轮
	__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_1, 0);
  __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2, 0);
	// 右轮
	__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, 0);
  __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 0);
}

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;i<8;i++){
		Oled_Write_Cmd(0xb0+i);              
		Oled_Write_Cmd(0x00);                
		Oled_Write_Cmd(0x10);                 
		for(n=0;n<128;n++)Oled_Write_Data(0x00); 			
	}	
}

void Oled_Show_Char(char row,char col,char oledChar){ //row*2-2
	unsigned int  i;
	Oled_Write_Cmd(0xb0+(row*2-2));                           //page 0
	Oled_Write_Cmd(0x00+(col&0x0f));                          //low
	Oled_Write_Cmd(0x10+(col>>4));                            //high	
	for(i=((oledChar-32)*16);i<((oledChar-32)*16+8);i++){
		Oled_Write_Data(F8X16[i]);                            //写数据oledTable1
	}

	Oled_Write_Cmd(0xb0+(row*2-1));                           //page 1
	Oled_Write_Cmd(0x00+(col&0x0f));                          //low
	Oled_Write_Cmd(0x10+(col>>4));                            //high
	for(i=((oledChar-32)*16+8);i<((oledChar-32)*16+8+8);i++){
		Oled_Write_Data(F8X16[i]);                            //写数据oledTable1
	}		
}


/******************************************************************************/
// 函数名称：Oled_Show_Str 
/******************************************************************************/
void Oled_Show_Str(char row,char col,char *str){
	while(*str!=0){
		Oled_Show_Char(row,col,*str);
		str++;
		col += 8;	
	}		
}

sg90.h

#ifndef __SG90_H__
#define __SG90_H__

void initSG90(void);
void sgMiddle(void);
void sgRight(void);
void sgLeft(void);

#endif

sr04.h

#ifndef __SR04_H__
#define __SR04_H__
void TIM2_Delay_us(uint16_t n_us);
double get_distance(void);

#endif

motor.h

#ifndef __MOTOR_H__
#define __MOTOR_H__
void PWM_Start(void);
void goForward(void);
void goBack(void);
void goLeft(void);
void goRight(void);
void stop(void);

#endif

oled.h

#ifndef __OLED_H__
#define __OLED_H__

void Oled_Init(void);
void Oled_Screen_Clear(void);
void Oled_Show_Char(char row,char col,char oledChar);
void Oled_Show_Str(char row,char col,char *str);

#endif

oledfont.h

const unsigned char F8X16[]=	  
{
  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
};

四、其它

1.在main.c里，main函数里面在while循环之前，把滴答定时器优先级提前，写上HAL_NVIC_SetPriority(SysTick_IRQn,0,0);在while循环的末尾加上延时函数HAL_Delay(50);否则程序极度容易死机。

2.在motor.c里，第一，想要开启pwm波，一定要记得调用HAL_TIM_PWM_Start函数，否则无法开启。第二，使用 __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4,1)的时候，我们在STM32Cube中选择的模式一，ARR的比较位上限是你设置的ARR最高位，下限一定不是0，最少你要写成1，函数里我已经用红色标记出来了；如果你要写0，还是会死机。第三你设置速度差的时候，同一个轮子的 __HAL_TIM_SetCompare函数的最后一位的差值稍微大一点，不然没有足够的电压差，带不动电机，这个需要自己调试。

3.在sr04.c里，我们需要自己设计微秒函数，因为HAL里有毫秒函数，没有微秒函数，所以我就把定时器2改成定时1毫秒

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);
}

这里面uint16_t n_us是多少，就延时多少毫秒，使用定时器之前，一定先使能

4.请注意，虽然TIM2也有PWM通道，但是我没有使用，因为在定时器里面，你把PSC和ARR的值固定了，在这个定时器里的功能都要使用一样的PSC和ARR。PWM波也可以使用和定时器一样的PSC，ARR，但是我不想混在一起，所以我就用定时器3做了PWM波的通道，并重新配置了PSC和ARR的值。

yangdongdeboke

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基于stm32的寻迹，跟随，避障小车

这一篇博客在原理与硬件上和51的相同，但是与51相比，这里增加了转向的差速度。51只有两个定时器，分别给了舵机还有超声波传感器。32这里不受定时器的限制，，因此可以使用额外得定时器制造PWM波形成差速度，在拐弯的时候更加丝滑。硬件的简绍以及语音模块的配置可以参考我51的博客，http://t.csdnimg.cn/4mqbm，我就不细说这些了。我会给出接口的引脚，全部需要手写的程序，以及我遇到的问题，还有部分的讲解。
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