基于STM32的智能小车（蓝牙遥控自动避障）_stm32避障小车任务书

作者：算法研究专家 | 2024-01-30 12:04:42

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stm32避障小车任务书

前言

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);
	}
}