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基于stm32的智能小车_stm32智能小车

作者：算法优化者 | 2024-01-30 11:42:44

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stm32智能小车

目录

一、功能实现

二、硬件清单

三、代码实现

1.先让小车动起来

2.串口控制小车行动

3.点动控制小车

4.硬件pwm调速

5. 左右轮各自调速

6. 循迹小车

7. 解决转弯平滑问题

8. 跟随小车

9. 摇头避障小车

9.1封装摇头功能

9.2封装超声波

9.3 封装电机驱动

10.小车测速实现

11.  串口控制小车并使用Oled显示速度

12. Wi-Fi测速小车并本地Oled显示

13. 语音控制小车

一、功能实现

左右转与前进后退：通过控制左组轮和右组轮的配合实现。pwm调速使其更平滑

循迹功能：基于光电传感器原理，通过判断黑线和白线来决定左转或者右转

跟随功能：通过超声波测出小车和跟随物的距离决定移动方向

避障功能：通过超声波检测出前方障碍物，做出改变方向的决定

语音模块控制：多种语音改变多种引脚的电平，通过语音控制实现以上多种功能的切换

old屏显示速度：将测速模块的数据通过oled屏显示

二、硬件清单

1.stm32f103(其他型号也行)板子

2.智能小车底盘、电机马达

3.电池盒和电池

4.超声波模块

5.sg90舵机模块

(黄pwm 红vcc 灰gnd)

6.old屏

7.测速模块

8.红外模块

9.esp8266

10.语音识别模块

三、代码实现

1.先让小车动起来

电机接线：B-1A -- PB0 B-1B -- PB1 A-1A -- PB2 A-1B -- PB10

motor.c 
  1. #include "motor.h"
  2. void goForward(void)//前进
  3. {
  4.     // 左轮
  5.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET);
  6.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
  7.     // 右轮
  8.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET);
  9.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
  10. }
  11. void goBack(void)后退
  12. {
  13.     // 左轮
  14.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);
  15.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_SET);
  16.     // 右轮
  17.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);
  18.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_SET);
  19. }
  20. void goLeft(void)//左转
  21. {
  22.     // 左轮
  23.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);
  24.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
  25.     // 右轮
  26.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET);
  27.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
  28. }
  29. void goRight(void)//右转
  30. {
  31.     // 左轮
  32.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET);
  33.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
  34.     // 右轮
  35.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);
  36.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
  37. }
  38. void stop(void)//停止
  39. {
  40.     // 左轮
  41.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET);
  42.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_SET);
  43.     // 右轮
  44.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);
  45.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
  46. }
motor.h 
  1. #ifndef __MOTOR_H__
  2. #define __MOTOR_H__
  3. #include "main.h"
  4. void goForward(void);
  5. void goBack(void);
  6. void goLeft(void);
  7. void goRight(void);
  8. void stop(void);
  9. #endif
main.c 
  1. #include "motor.h"
  2.  
  3. //main函数的while循环部分：
  4. while (1)
  5. {
  6.     /* USER CODE END WHILE */
  7.     goForward();
  8.     HAL_Delay(1000);
  9.     goBack();
  10.     HAL_Delay(1000);
  11.     goLeft();
  12.     HAL_Delay(1000);
  13.     goRight();
  14.     HAL_Delay(1000);
  15.     stop();
  16.     HAL_Delay(1000);
  17.     /* USER CODE BEGIN 3 */
  18. }

2.串口控制小车行动

usart.c 
  1. #include "string.h"
  2. #include "stdio.h"
  3. #include "motor.h"
  4.  
  5. //串口接收缓存（1字节）
  6. uint8_t buf=0;
  7.  
  8. //定义最大接收字节数 200，可根据需求调整
  9. #define UART1_REC_LEN 200
  10.  
  11. // 接收缓冲, 串口接收到的数据放在这个数组里，最大UART1_REC_LEN个字节
  12. uint8_t UART1_RX_Buffer[UART1_REC_LEN];
  13.  
  14. // 接收状态
  15. // bit15， 接收完成标志
  16. // bit14， 接收到0x0d
  17. // bit13~0， 接收到的有效字节数目
  18. uint16_t UART1_RX_STA=0;
  19. #define SIZE 12
  20. char buffer[SIZE];
  21.  
  22. // 接收完成回调函数，收到一个数据后，在这里处理
  23. void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
  24. {
  25.     //判断中断由哪个串口触发
  26.     if(huart->Instance == USART1)
  27.     {
  28.         //判断接收是否完成（UART1_RX_STA bit15 位是否为1）
  29.         if((UART1_RX_STA & 0x8000) == 0)
  30.         {
  31.             //如果已经收到了 0x0d （回车），
  32.             if(UART1_RX_STA & 0x4000)
  33.             {
  34.                 //判断是否收到 0x0a （换行）
  35.                 if(buf == 0x0a)
  36.                 {
  37.                     //如果 0x0a和0x0d都收到，则将bit15位置为1
  38.                     UART1_RX_STA |= 0x8000;
  39.                     
  40.                     if(!strcmp(UART1_RX_Buffer, "M1"))
  41.                         goForward();
  42.                     else if(!strcmp(UART1_RX_Buffer, "M2"))
  43.                         goBack();
  44.                     else if(!strcmp(UART1_RX_Buffer, "M3"))
  45.                         goLeft();
  46.                     else if(!strcmp(UART1_RX_Buffer, "M4"))
  47.                         goRight();
  48.                     else
  49.                         stop();
  50.                     memset(UART1_RX_Buffer, 0, UART1_REC_LEN);
  51.                     UART1_RX_STA = 0;
  52.                 }
  53.                 else
  54.                     //否则认为接收错误，重新开始
  55.                     UART1_RX_STA = 0;
  56.             }
  57.             else // 如果没有收到了 0x0d （回车）            
  58.             {
  59.                 //则先判断收到的这个字符是否是 0x0d （回车）
  60.                 if(buf == 0x0d)
  61.                 {
  62.                     //是的话则将 bit14 位置为1
  63.                     UART1_RX_STA |= 0x4000;
  64.                 }
  65.                 else
  66.                 {
  67.                     //否则将接收到的数据保存在缓存数组里
  68.                     UART1_RX_Buffer[UART1_RX_STA & 0X3FFF] = buf;
  69.                     UART1_RX_STA++;
  70.                     //如果接收数据大于UART1_REC_LEN（200字节），则重新开始接收
  71.                     if(UART1_RX_STA > UART1_REC_LEN - 1)
  72.                         UART1_RX_STA = 0;
  73.                 }
  74.             }
  75.         }
  76.         //重新开启中断
  77.         HAL_UART_Receive_IT(&huart1, &buf, 1);
  78.     }
  79. }
  80. int fputc(int ch, FILE *f)
  81. {
  82.     unsigned char temp[1]={ch};
  83.     HAL_UART_Transmit(&huart1,temp,1,0xffff);
  84.     return ch;
  85. }
  86.
main.c 
  1. #include "motor.h"
  2. extern uint8_t buf;
  3. //main函数
  4. HAL_UART_Receive_IT(&huart1, &buf, 1);

3.点动控制小车

usart.c 
  1. if (!strcmp(UART1_RX_Buffer, "M1"))
  2. {
  3.     goForward();
  4.     HAL_Delay(10);
  5. }
  6. else if (!strcmp(UART1_RX_Buffer, "M2"))
  7. {
  8.     goBack();
  9.     HAL_Delay(10);
  10. }
  11. else if (!strcmp(UART1_RX_Buffer, "M3"))
  12. {
  13.     goLeft();
  14.     HAL_Delay(10);
  15. }
  16. else if (!strcmp(UART1_RX_Buffer, "M4"))
  17. {
  18.     goRight();
  19.     HAL_Delay(10);
  20. }
  21. else
  22.     stop();
main.c 
  1. HAL_NVIC_SetPriority(SysTick_IRQn,0,0); //或者通过cubeMX配置
  2. while(1)
  3. {
  4.     stop();
  5. }

4.硬件pwm调速

cubeMX 配置

 根据公式配置psc和arr

 

 代码实现

main.c

  1. // main函数里
  2. HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_1);
  3. HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_2);
  4. while (1)
  5. {
  6.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, 8);
  7.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, 8);
  8.     HAL_Delay(1000);
  9.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, 10);
  10.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, 10);
  11.     HAL_Delay(1000);
  12.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, 15);
  13.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, 15);
  14.     HAL_Delay(1000);
  15. }

5. 左右轮各自调速

代码实现 
  1. // main函数里
  2. while (1)
  3. {
  4.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,8);
  5.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,15);
  6.     HAL_Delay(1000);
  7.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,15);
  8.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,8);
  9.     HAL_Delay(1000);
  10. }

6. 循迹小车

循迹模块（左） -- PB3  循迹模块（右） -- PB4

代码实现

  1. #define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3)
  2. #define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4)
  3. // main函数里
  4. while (1)
  5. {
  6.     if (LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET)
  7.     goForward();
  8.     if (LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET)
  9.     goLeft();
  10.     if (LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET)
  11.     goRight();
  12.     if (LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET)
  13.     stop();
  14. }

7. 解决转弯平滑问题

代码实现 
  1. #define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3)
  2. #define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4)
  3. // main函数里
  4. while (1)
  5. {
  6.     if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET)
  7.     {
  8.         __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,19);
  9.         __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,19);
  10.     }
  11.     if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET)
  12.     {
  13.         __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,15);
  14.         __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,8);
  15.     }
  16.     if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET)
  17.     {
  18.         __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,8);
  19.         __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,15);
  20.     }
  21.     if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET)
  22.     {
  23.         __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,0);
  24.         __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,0);
  25.     }
  26. }

8. 跟随小车

跟随模块（左） -- PB5  跟随模块（右） -- PB6
代码实现 
  1. #define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_5)
  2. #define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_6)
  3. // main函数里
  4. while (1)
  5. {
  6.     if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET)
  7.         goForward();
  8.     if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET)
  9.         goRight();
  10.     if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET)
  11.         goLeft();
  12.     if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET)
  13.         stop();
  14. }

9. 摇头避障小车

9.1封装摇头功能
舵机接线：sg90 -- PB9
sg90.c 
  1. #include "sg90.h"
  2. #include "gpio.h"
  3. #include "tim.h"
  4.  
  5. void initSG90(void)//初始化90度
  6. {
  7.     HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_4); //启动定时器4
  8.     __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 17); //将舵机置为90度
  9. }
  10.  
  11. void sgMiddle(void)
  12. {
  13.     __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 17); //将舵机置为90度
  14. }
  15.  
  16. void sgRight(void)
  17. {
  18.     __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 5); //将舵机置为0度
  19. }
  20.  
  21. void sgLeft(void)
  22. {
  23.     __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 25); //将舵机置为180度
  24. }

sg90.h

  1. #ifndef __SG90_H__
  2. #define __SG90_H__
  3.  
  4. void initSG90(void);
  5. void sgMiddle(void);
  6. void sgRight(void);
  7. void sgLeft(void);
  8.  
  9. #endif

main.c

  1. initSG90();
  2.  
  3. HAL_Delay(1000);
  4.  
  5. while (1)
  6. {
  7.     sgLeft();
  8.     HAL_Delay(1000);
  9.     sgMiddle();
  10.     HAL_Delay(1000);
  11.     sgRight();
  12.     HAL_Delay(1000);
  13.     sgMiddle();
  14.     HAL_Delay(1000);
  15. }
9.2封装超声波

超声波接线 Trig       --    PB7  Echo     -- PB8

cubeMX 配置

 

 

 

代码实现
sr04.c 
  1. #include "sr04.h"
  2. #include "gpio.h"
  3. #include "tim.h"
  4. //使用TIM2来做us级延时函数
  5. void TIM2_Delay_us(uint16_t n_us)
  6. {
  7.     /* 使能定时器2计数 */
  8.     __HAL_TIM_ENABLE(&htim2);
  9.     __HAL_TIM_SetCounter(&htim2, 0);
  10.     while(__HAL_TIM_GetCounter(&htim2) < ((1 * n_us)-1) );
  11.     /* 关闭定时器2计数 */
  12.     __HAL_TIM_DISABLE(&htim2);
  13. }
  14. double get_distance(void)
  15. {
  16.     int cnt=0;
  17.     //1. Trig ，给Trig端口至少10us的高电平
  18.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_SET);//拉高
  19.     TIM2_Delay_us(20);
  20.     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_RESET);//拉低
  21.     //2. echo由低电平跳转到高电平，表示开始发送波
  22.     //波发出去的那一下，开始启动定时器
  23.     while(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_8) == GPIO_PIN_RESET);//等待输入电平拉高
  24.     HAL_TIM_Base_Start(&htim2);
  25.     __HAL_TIM_SetCounter(&htim2,0);
  26.     //3. 由高电平跳转回低电平，表示波回来了
  27.     while(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_8) == GPIO_PIN_SET);//等待输入电平变低
  28.     //波回来的那一下，我们开始停止定时器
  29.     HAL_TIM_Base_Stop(&htim2);
  30.     //4. 计算出中间经过多少时间
  31.     cnt = __HAL_TIM_GetCounter(&htim2);
  32.     //5. 距离 = 速度 （340m/s）* 时间/2（计数1次表示1us）
  33.     return (cnt*340/2*0.000001*100); //单位：cm
  34. }
sr04.h 
  1. #ifndef __SR04_H__
  2. #define __SR04_H__
  3.  
  4. double get_distance(void);
  5.  
  6. #endif
main.c 
  1. while (1)
  2. {
  3.     if(dir != MIDDLE)
  4.     {
  5.         sgMiddle();
  6.         dir = MIDDLE;
  7.         HAL_Delay(300);
  8.     }
  9.     disMiddle = get_distance();
  10.     if(disMiddle > 35)
  11.     {
  12.         //前进
  13.     }
  14.     else
  15.     {
  16.         //停止
  17.         //测左边距离
  18.         sgLeft();
  19.         HAL_Delay(300);
  20.         disLeft = get_distance();
  21.         sgMiddle();
  22.         HAL_Delay(300);
  23.         sgRight();
  24.         dir = RIGHT;
  25.         HAL_Delay(300);
  26.         disRight = get_distance();
  27.     }
  28. }
9.3 封装电机驱动
硬件接线与1一样： B-1A -- PB0  B-1B -- PB1  A-1A -- PB2  A-1B -- PB10
代码实现 
  1. while (1)
  2. {
  3.     /* USER CODE END WHILE */
  4.     /* USER CODE BEGIN 3 */
  5.     if(dir != MIDDLE){
  6.         sgMiddle();
  7.         dir = MIDDLE;
  8.         HAL_Delay(300);
  9.     }
  10.     disMiddle = get_distance();
  11.     if(disMiddle > 35){
  12.         //前进
  13.         goForward();
  14.     }else if(disMiddle < 10){
  15.         goBack();
  16.     }else
  17.     {
  18.         //停止
  19.         stop();
  20.         //测左边距离
  21.         sgLeft();
  22.         HAL_Delay(300);
  23.         disLeft = get_distance();
  24.         sgMiddle();
  25.         HAL_Delay(300);
  26.         sgRight();
  27.         dir = RIGHT;
  28.         HAL_Delay(300);
  29.         disRight = get_distance();
  30.         if(disLeft < disRight){
  31.             goRight();
  32.             HAL_Delay(150);
  33.             stop();
  34.         }
  35.         if(disRight < disLeft){
  36.             goLeft();
  37.             HAL_Delay(150);
  38.             stop();
  39.         }
  40.     }
  41.     HAL_Delay(50);
  42. }

10.小车测速实现

硬件接线 测速模块： VCC -- 3.3V 不能接5V，否则遮挡一次会触发 3 次中断  OUT -- PB14
cubeMX 配置

 

 

 代码实现

  1. unsigned int speedCnt;
  2. void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
  3. {
  4.     if (GPIO_Pin == GPIO_PIN_14)
  5.         if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_14) == GPIO_PIN_RESET)
  6.             speedCnt++;
  7. }
  8. void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
  9. {
  10.     printf("speed: %d\r\n", speedCnt);
  11.     speedCnt = 0;
  12. }
  13. main函数里：
  14. HAL_TIM_Base_Start_IT(&htim2);

11.  串口控制小车并使用Oled显示速度

硬件接线 SCL -- PB6 SDA -- PB7
封装 Oled 模块
代码实现
oled.c 
  1. #include "oled.h"
  2. #include "i2c.h"
  3. #include "oledfont.h"
  4.  
  5. void Oled_Write_Cmd(uint8_t dataCmd)
  6. {
  7. 	
  8. 	HAL_I2C_Mem_Write(&hi2c1, 0x78, 0x00, I2C_MEMADD_SIZE_8BIT,
  9. 										&dataCmd, 1, 0xff);
  10. }
  11.  
  12. void Oled_Write_Data(uint8_t dataData)
  13. {
  14. 	HAL_I2C_Mem_Write(&hi2c1, 0x78, 0x40, I2C_MEMADD_SIZE_8BIT,
  15. 										&dataData, 1, 0xff);
  16. }
  17.  
  18. void Oled_Init(void){
  19. 	Oled_Write_Cmd(0xAE);//--display off
  20. 	Oled_Write_Cmd(0x00);//---set low column address
  21. 	Oled_Write_Cmd(0x10);//---set high column address
  22. 	Oled_Write_Cmd(0x40);//--set start line address  
  23. 	Oled_Write_Cmd(0xB0);//--set page address
  24. 	Oled_Write_Cmd(0x81); // contract control
  25. 	Oled_Write_Cmd(0xFF);//--128   
  26. 	Oled_Write_Cmd(0xA1);//set segment remap 
  27. 	Oled_Write_Cmd(0xA6);//--normal / reverse
  28. 	Oled_Write_Cmd(0xA8);//--set multiplex ratio(1 to 64)
  29. 	Oled_Write_Cmd(0x3F);//--1/32 duty
  30. 	Oled_Write_Cmd(0xC8);//Com scan direction
  31. 	Oled_Write_Cmd(0xD3);//-set display offset
  32. 	Oled_Write_Cmd(0x00);//
  33. 	
  34. 	Oled_Write_Cmd(0xD5);//set osc division
  35. 	Oled_Write_Cmd(0x80);//
  36. 	
  37. 	Oled_Write_Cmd(0xD8);//set area color mode off
  38. 	Oled_Write_Cmd(0x05);//
  39. 	
  40. 	Oled_Write_Cmd(0xD9);//Set Pre-Charge Period
  41. 	Oled_Write_Cmd(0xF1);//
  42. 	
  43. 	Oled_Write_Cmd(0xDA);//set com pin configuartion
  44. 	Oled_Write_Cmd(0x12);//
  45. 	
  46. 	Oled_Write_Cmd(0xDB);//set Vcomh
  47. 	Oled_Write_Cmd(0x30);//
  48. 	
  49. 	Oled_Write_Cmd(0x8D);//set charge pump enable
  50. 	Oled_Write_Cmd(0x14);//
  51. 	
  52. 	Oled_Write_Cmd(0xAF);//--turn on oled panel		
  53. }
  54.  
  55. void Oled_Screen_Clear(void){
  56. 	char i,n;
  57. 	Oled_Write_Cmd (0x20);                    //set memory addressing mode
  58. 	Oled_Write_Cmd (0x02);                    //page addressing mode
  59.  
  60. 	for(i=0;i<8;i++){
  61. 		Oled_Write_Cmd(0xb0+i);               //éè??ò3μ??·￡¨0~7￡?
  62. 		Oled_Write_Cmd(0x00);                 //éè????ê??????aáDμíμ??·
  63. 		Oled_Write_Cmd(0x10);                 //éè????ê??????aáD??μ??·   
  64. 		for(n=0;n<128;n++)Oled_Write_Data(0x00); 			
  65. 	}	
  66. }
  67.  
  68. void Oled_Show_Char(char row,char col,char oledChar){ //row*2-2
  69. 	unsigned int  i;
  70. 	Oled_Write_Cmd(0xb0+(row*2-2));                           //page 0
  71. 	Oled_Write_Cmd(0x00+(col&0x0f));                          //low
  72. 	Oled_Write_Cmd(0x10+(col>>4));                            //high	
  73. 	for(i=((oledChar-32)*16);i<((oledChar-32)*16+8);i++){
  74. 		Oled_Write_Data(F8X16[i]);                            //写数据oledTable1
  75. 	}
  76.  
  77. 	Oled_Write_Cmd(0xb0+(row*2-1));                           //page 1
  78. 	Oled_Write_Cmd(0x00+(col&0x0f));                          //low
  79. 	Oled_Write_Cmd(0x10+(col>>4));                            //high
  80. 	for(i=((oledChar-32)*16+8);i<((oledChar-32)*16+8+8);i++){
  81. 		Oled_Write_Data(F8X16[i]);                            //写数据oledTable1
  82. 	}		
  83. }
  84.  
  85.  
  86. /******************************************************************************/
  87. // 函数名称：Oled_Show_Char 
  88. // 输入参数：oledChar 
  89. // 输出参数：无 
  90. // 函数功能：OLED显示单个字符
  91. /******************************************************************************/
  92. void Oled_Show_Str(char row,char col,char *str){
  93. 	while(*str!=0){
  94. 		Oled_Show_Char(row,col,*str);
  95. 		str++;
  96. 		col += 8;	
  97. 	}		
  98. }
oled显示速度
代码实现 
  1. extern uint8_t buf;
  2. unsigned int speedCnt = 0;
  3. char speedMes[24];  //主程序发送速度数据的字符串缓冲区
  4.  
  5. void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
  6. {
  7. 	if (GPIO_Pin == GPIO_PIN_14)
  8. 		if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_14) == GPIO_PIN_RESET)
  9. 			speedCnt++;
  10. }
  11.  
  12. void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
  13. {
  14. 	printf("speed: %d\r\n", speedCnt);
  15. 	sprintf(speedMes,"speed:%2d cm/s",speedCnt);//串口数据的字符串拼装，speed是格子，每个格子1cm
  16. 	Oled_Show_Str(2,2,speedMes);
  17. 	speedCnt = 0;
  18. }

12. Wi-Fi测速小车并本地Oled显示

硬件接线  把esp8266插进串口 1
代码实现
main.c 
  1. #define MIDDLE 0
  2. #define LEFT 1
  3. #define RIGHT 2
  4.  
  5. #define BZ 1
  6. #define XJ 2
  7. #define GS 3
  8.  
  9. #define LeftWheel_Value_XJ HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3)
  10. #define RightWheel_Value_XJ HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4)
  11.  
  12. #define LeftWheel_Value_GS HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_8)
  13. #define RightWheel_Value_GS HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_9)
  14.  
  15. #define A25 HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_15)
  16. #define A26 HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_13)
  17. #define A27 HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_14)
  18.  
  19. char dir;
  20.  
  21. void xunjiMode()
  22. {
  23. 	if(LeftWheel_Value_XJ == GPIO_PIN_RESET && RightWheel_Value_XJ == GPIO_PIN_RESET)
  24. 		goForward();
  25. 	if(LeftWheel_Value_XJ == GPIO_PIN_SET && RightWheel_Value_XJ == GPIO_PIN_RESET)
  26. 		goLeft();
  27. 	if(LeftWheel_Value_XJ == GPIO_PIN_RESET && RightWheel_Value_XJ == GPIO_PIN_SET)
  28. 		goRight();
  29. 	if(LeftWheel_Value_XJ == GPIO_PIN_SET && RightWheel_Value_XJ == GPIO_PIN_SET)
  30. 		stop();
  31. }
  32.  
  33. void gensuiMode()
  34. {
  35. 	if(LeftWheel_Value_GS == GPIO_PIN_RESET && RightWheel_Value_GS == GPIO_PIN_RESET)
  36. 		goForward();
  37. 	if(LeftWheel_Value_GS == GPIO_PIN_SET && RightWheel_Value_GS == GPIO_PIN_RESET)
  38. 		goRight();
  39. 	if(LeftWheel_Value_GS == GPIO_PIN_RESET && RightWheel_Value_GS == GPIO_PIN_SET)
  40. 		goLeft();
  41. 	if(LeftWheel_Value_GS == GPIO_PIN_SET && RightWheel_Value_GS == GPIO_PIN_SET)
  42. 		stop();
  43. }
  44.  
  45. void bizhangMode()
  46. {
  47. 	double disMiddle;
  48. 	double disLeft;
  49. 	double disRight;
  50.  
  51. 	if(dir != MIDDLE){
  52. 		sgMiddle();
  53. 		dir = MIDDLE;
  54. 		HAL_Delay(300);
  55. 	}
  56. 	disMiddle = get_distance();
  57. 	
  58. 	if(disMiddle > 35){
  59. 		//前进
  60. 		goForward();
  61. 	}else if(disMiddle < 10){
  62. 		goBack();
  63. 		
  64. 	}else
  65. 	{
  66. 		//停止
  67. 		stop();
  68. 		//测左边距离
  69. 		sgLeft();
  70. 		HAL_Delay(300);
  71. 		disLeft = get_distance();
  72. 		
  73. 		sgMiddle();
  74. 		HAL_Delay(300);
  75. 		
  76. 		sgRight();
  77. 		dir = RIGHT;
  78. 		HAL_Delay(300);
  79. 		disRight = get_distance();
  80. 		
  81. 		if(disLeft < disRight){
  82. 			goRight();
  83. 			HAL_Delay(150);
  84. 			stop();
  85. 		}
  86. 		if(disRight < disLeft){
  87. 			goLeft();
  88. 			HAL_Delay(150);
  89. 			stop();
  90. 		}
  91. 	}
  92. 	HAL_Delay(50);
  93. }
  94.  
  95. //main部分
  96.   MX_GPIO_Init();
  97.   MX_TIM4_Init();
  98.   MX_TIM2_Init();
  99.   MX_I2C1_Init();
  100.  
  101. 	initSG90();
  102. 	HAL_Delay(1000);
  103. 	dir = MIDDLE;
  104. 	Oled_Init();
  105. 	Oled_Screen_Clear();
  106. 	Oled_Show_Str(2,2,"-----Ready----");
  107.  
  108.   while (1)
  109.   {
  110. 		//满足寻迹模式的条件
  111. 		if(A25 == 1 && A26 == 1 && A27 == 0){
  112. 			if(mark != XJ){
  113. 				Oled_Screen_Clear();
  114. 				Oled_Show_Str(2,2,"-----XunJi----");
  115. 			}
  116. 			mark = XJ;
  117. 			xunjiMode();
  118. 		}
  119. 		//满足跟随模式的条件
  120. 		if(A25 == 0 && A26 == 1 && A27 == 1){
  121. 			if(mark != GS){
  122. 				Oled_Screen_Clear();
  123. 				Oled_Show_Str(2,2,"-----GenSui----");
  124. 			}
  125. 			mark = GS;
  126. 			gensuiMode();
  127. 		}
  128. 		//满足避障模式的条件
  129. 		if(A25 == 1 && A26 == 0 && A27 == 1){
  130. 			if(mark != BZ){
  131. 				Oled_Screen_Clear();
  132. 				Oled_Show_Str(2,2,"-----BiZhang----");
  133. 			}
  134. 			mark = BZ;
  135. 			bizhangMode();
  136. 		}
  137.   }
  138. }

13. 语音控制小车

语音模块硬件接线 A25 -- PA15 （跟随） A26 -- PA13 （避障） A27 -- PA14 （循迹）
cubeMX配置

 

 代码实现

  1. #include "sg90.h"
  2. #include "sr04.h"
  3. #include "motor.h"
  4. #include "oled.h"
  5. #include "string.h"
  6. #define MIDDLE 0
  7. #define LEFT 1
  8. #define RIGHT 2
  9. #define BZ 1
  10. #define XJ 2
  11. #define GS 3
  12. #define LeftWheel_Value_XJ HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3)
  13. #define RightWheel_Value_XJ HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4)
  14. #define LeftWheel_Value_GS HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_8)
  15. #define RightWheel_Value_GS HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_9)
  16. #define XJ_VALUE HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_14)
  17. #define GS_VALUE HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_15)
  18. #define BZ_VALUE HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_13)
  19. char dir;
  20. void xunjiMode()
  21. {
  22.     if(LeftWheel_Value_XJ == GPIO_PIN_RESET && RightWheel_Value_XJ == GPIO_PIN_RESET)
  23.         goForward();
  24.     if(LeftWheel_Value_XJ == GPIO_PIN_SET && RightWheel_Value_XJ == GPIO_PIN_RESET)
  25.         goLeft();
  26.     if(LeftWheel_Value_XJ == GPIO_PIN_RESET && RightWheel_Value_XJ == GPIO_PIN_SET)
  27.         goRight();
  28.     if(LeftWheel_Value_XJ == GPIO_PIN_SET && RightWheel_Value_XJ == GPIO_PIN_SET)
  29.         stop();
  30. }
  31. void gensuiMode()
  32. {
  33.     if(LeftWheel_Value_GS == GPIO_PIN_RESET && RightWheel_Value_GS == GPIO_PIN_RESET)
  34.         goForward();
  35.     if(LeftWheel_Value_GS == GPIO_PIN_SET && RightWheel_Value_GS == GPIO_PIN_RESET)
  36.         goRight();
  37.     if(LeftWheel_Value_GS == GPIO_PIN_RESET && RightWheel_Value_GS == GPIO_PIN_SET)
  38.         goLeft();
  39.     if(LeftWheel_Value_GS == GPIO_PIN_SET && RightWheel_Value_GS == GPIO_PIN_SET)
  40.         stop();
  41. }
  42. void bizhangMode()
  43. {
  44.     double disMiddle;
  45.     double disLeft;
  46.     double disRight;
  47.     if(dir != MIDDLE){
  48.         sgMiddle();
  49.         dir = MIDDLE;
  50.         HAL_Delay(300);
  51.     }
  52.     disMiddle = get_distance();
  53.     if(disMiddle > 35){
  54.         //前进
  55.         goForward();
  56.     }else if(disMiddle < 10){
  57.         goBack();
  58.     }else
  59.     {
  60.         //停止
  61.         stop();
  62.         //测左边距离
  63.         sgLeft();
  64.         HAL_Delay(300);
  65.         disLeft = get_distance();
  66.         sgMiddle();
  67.         HAL_Delay(300);
  68.         sgRight();
  69.         dir = RIGHT;
  70.         HAL_Delay(300);
  71.         disRight = get_distance();
  72.         if(disLeft < disRight){
  73.             goRight();
  74.             HAL_Delay(150);
  75.             stop();
  76.         }
  77.         if(disRight < disLeft){
  78.             goLeft();
  79.             HAL_Delay(150);
  80.             stop();
  81.         }
  82.     }
  83.     HAL_Delay(50);
  84. }
  85. int main(void)
  86. {
  87.     int mark = 0;
  88.     HAL_Init();
  89.     SystemClock_Config();
  90.     MX_GPIO_Init();
  91.     MX_TIM4_Init();
  92.     MX_TIM2_Init();
  93.     MX_I2C1_Init();
  94.  
  95.     initSG90();
  96.     HAL_Delay(1000);
  97.     dir = MIDDLE;
  98.     Oled_Init();
  99.     Oled_Screen_Clear();
  100.  
  101.     Oled_Show_Str(2,2,"-----Ready----");
  102.     while (1)
  103.     {
  104.         if(XJ_VALUE == GPIO_PIN_RESET && GS_VALUE == GPIO_PIN_SET && BZ_VALUE ==
  105.                 GPIO_PIN_SET)
  106.         {
  107.             if(mark != XJ)
  108.             {
  109.                 Oled_Screen_Clear();
  110.                 Oled_Show_Str(2,2,"-----XunJi----");
  111.             }
  112.             mark = XJ;
  113.             xunjiMode();
  114.         }
  115.         //满足循迹模式的条件
  116.         if(XJ_VALUE == GPIO_PIN_SET && GS_VALUE == GPIO_PIN_RESET && BZ_VALUE ==
  117.                 GPIO_PIN_SET)
  118.         {
  119.             if(mark != GS)
  120.             {
  121.                 Oled_Screen_Clear();
  122.                 Oled_Show_Str(2,2,"-----GenSui----");
  123.             }
  124.             mark = GS;
  125.             gensuiMode();
  126.         }
  127.         //满足避障模式的条件
  128.         if(XJ_VALUE == GPIO_PIN_SET && GS_VALUE == GPIO_PIN_SET && BZ_VALUE ==
  129.                 GPIO_PIN_RESET)
  130.         {
  131.             if(mark != BZ)
  132.             {
  133.                 Oled_Screen_Clear();
  134.                 Oled_Show_Str(2,2,"-----BiZhang----");
  135.             }
  136.             mark = BZ;
  137.             bizhangMode();
  138.         }
  139.         HAL_Delay(50);
  140.     }
  141. }

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