基于STM32f103c8x的智能車紅外循跡避障程序

ID:713074 · 發表于 2020-8-5 23:52

//部分代碼
//避障函數
//#include "elude.h"

u8 S_Elude_Input = 0 ;

//----------------------------------------------------------------------------------------------
void Elude_Input_Init_JX(void)
{
      GPIO_InitTypeDef  GPIO_InitStructure;

      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);


      // ±üÕÏ￡oElude--PA1¡￠PA2¡￠PA3
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
      //GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_Init(GPIOA, &GPIO_InitStructure);

}void Elude_detect_barrier(void)
{
      S_Elude_Input = 0 ;

      S_Elude_Input = (((u8)GPIOA->IDR) & 0x0E)>>1;
}
//-------------------------------------------------------------
//循跡函數
#include "trail.h"

u8 S_Trail_Input = 0 ;

// Trail -- PB3
// Trai2 -- PB4
// Trai3 -- PB5
//----------------------------------------------------------------------------------------------
void Trail_Input_Init_JX(void)
{
      GPIO_InitTypeDef  GPIO_InitStructure;
            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

      RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
      GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);


      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3|GPIO_Pin_4|GPIO_Pin_5;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
      //GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_Init(GPIOB, &GPIO_InitStructure);

}
//----------------------------------------------------------------------------------------------

void Trail_black_line(void)
{
      S_Trail_Input = 0 ;

      S_Trail_Input = (((u8)GPIOB->IDR) & 0x38)>>3;
}
//----------------------------------------------------

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基于STM32f103c8x的智能車紅外循跡避障程序