2025年4月6日 星期日 9:23am

stm32电机驱动模块

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电机驱动模块是智能车等电子设备中用于驱动电机运转的重要部件，它能将微控制器输出的控制信号转换为足够的功率和电流来驱动电机。以下为你详细介绍电机驱动模块的相关信息：

常见类型

1. L298N 电机驱动模块

  • 特点
    • 高电压、大电流驱动能力：能够驱动高达 46V 的电机，持续输出电流可达 2A，瞬间峰值电流能达到 3A，适用于驱动各种中小型直流电机。
    • 双通道控制：可以同时控制两个直流电机的正反转和调速，也能用于驱动一个步进电机。
    • 简单易用：与微控制器的接口简单，通常通过几个 GPIO 引脚即可实现对电机的控制。
  • 应用场景：广泛应用于智能小车、机器人等项目中，为电机提供稳定可靠的驱动。
  • 工作原理：内部包含两个 H 桥电路，通过控制 H 桥电路中各个晶体管的导通和截止状态，可以实现电机的正反转和调速。
2. TB6612FNG 电机驱动模块

  • 特点
    • 低功耗：相比 L298N，TB6612FNG 的功耗更低，效率更高，能有效延长电池供电设备的使用时间。
    • 小体积：体积小巧，适合对空间要求较高的应用场景。
    • 高输出电流：每通道最大输出电流可达 1.2A（持续），2A（峰值），足以驱动大多数小型直流电机。
  • 应用场景：常用于小型智能车、航模、小型机器人等设备中。
  • 工作原理：采用 CMOS 工艺制造，内部集成了 H 桥电路和控制逻辑，通过控制输入引脚的电平信号来实现电机的驱动。
3. DRV8833 电机驱动模块

  • 特点
    • 集成度高：将多个驱动电路集成在一个芯片中，减少了外部元件的使用，降低了电路设计的复杂度。
    • 低电压工作：工作电压范围为 2.7V - 10.8V，适合电池供电的低电压应用场景。
    • 过流保护：内置过流保护功能，当输出电流超过设定值时，会自动关断输出，保护芯片和电机。
  • 应用场景：常用于小型电子产品、便携式设备中的电机驱动。
  • 工作原理：内部采用全桥驱动电路，通过 PWM 信号控制电机的转速和方向。

主要参数

1. 工作电压

指模块正常工作时所需的电源电压范围。不同的电机驱动模块有不同的工作电压要求，需要根据实际应用选择合适的电压等级。例如，L298N 的工作电压范围为 5V - 46V，而 DRV8833 的工作电压范围为 2.7V - 10.8V。

2. 输出电流

表示模块能够提供给电机的电流大小。输出电流的大小直接影响电机的转矩和转速，需要根据电机的额定电流来选择合适的驱动模块。例如，TB6612FNG 每通道最大输出电流可达 1.2A（持续），2A（峰值）。

3. 通道数

指模块能够同时驱动的电机数量。常见的电机驱动模块有单通道、双通道和四通道等不同规格。例如，L298N 和 TB6612FNG 都是双通道驱动模块，可以同时控制两个电机。

4. 逻辑电平

指模块控制引脚所能接受的输入信号电平。常见的逻辑电平有 3.3V 和 5V 两种，需要与微控制器的输出电平相匹配。

与 STM32 的连接及控制示例（以 L298N 为例）

连接方式

  • 电源连接：将 L298N 的电源引脚（如 12V 和 GND）连接到合适的电源上，同时将 5V 引脚连接到 STM32 的电源引脚，为模块内部的逻辑电路供电。
  • 控制引脚连接：将 L298N 的控制引脚（如 IN1 - IN4）连接到 STM32 的 GPIO 引脚，用于控制电机的正反转。将 ENA 和 ENB 引脚连接到 STM32 的 PWM 输出引脚，用于控制电机的转速。
  • 电机连接：将电机的两根线分别连接到 L298N 的 OUT1 - OUT4 引脚。

  • 电机驱动模块是智能车等电子设备中用于驱动电机运转的重要部件，它能将微控制器输出的控制信号转换为足够的功率和电流来驱动电机。以下为你详细介绍电机驱动模块的相关信息：

示例代码
  1.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1">
class="hljs-ln-code"> class="hljs-ln-line">
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2">
    • class="hljs-ln-code"> class="hljs-ln-line">
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">#include "stm32f10x.h"
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">// 定义L298N控制引脚
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">#define IN1_PIN GPIO_Pin_0
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">#define IN2_PIN GPIO_Pin_1
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">#define IN3_PIN GPIO_Pin_2
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">#define IN4_PIN GPIO_Pin_3
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">#define ENA_PIN GPIO_Pin_6
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line">#define ENB_PIN GPIO_Pin_7
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">#define L298N_PORT GPIOA
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">// 初始化L298N控制引脚
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line">void L298N_Init(void) {
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_InitTypeDef GPIO_InitStructure;
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="17"> class="hljs-ln-code"> class="hljs-ln-line"> RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="18"> class="hljs-ln-code"> class="hljs-ln-line">
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="19"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_InitStructure.GPIO_Pin = IN1_PIN | IN2_PIN | IN3_PIN | IN4_PIN | ENA_PIN | ENB_PIN;
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="20"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="21"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="22"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_Init(L298N_PORT, &GPIO_InitStructure);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="23"> class="hljs-ln-code"> class="hljs-ln-line">}
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="24"> class="hljs-ln-code"> class="hljs-ln-line">
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="25"> class="hljs-ln-code"> class="hljs-ln-line">// 控制电机正转
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="26"> class="hljs-ln-code"> class="hljs-ln-line">void Motor_Forward(void) {
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="27"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_SetBits(L298N_PORT, IN1_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="28"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_ResetBits(L298N_PORT, IN2_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="29"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_SetBits(L298N_PORT, IN3_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="30"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_ResetBits(L298N_PORT, IN4_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="31"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_SetBits(L298N_PORT, ENA_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="32"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_SetBits(L298N_PORT, ENB_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="33"> class="hljs-ln-code"> class="hljs-ln-line">}
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="34"> class="hljs-ln-code"> class="hljs-ln-line">
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="35"> class="hljs-ln-code"> class="hljs-ln-line">// 控制电机反转
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="36"> class="hljs-ln-code"> class="hljs-ln-line">void Motor_Backward(void) {
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="37"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_ResetBits(L298N_PORT, IN1_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="38"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_SetBits(L298N_PORT, IN2_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="39"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_ResetBits(L298N_PORT, IN3_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="40"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_SetBits(L298N_PORT, IN4_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="41"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_SetBits(L298N_PORT, ENA_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="42"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_SetBits(L298N_PORT, ENB_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="43"> class="hljs-ln-code"> class="hljs-ln-line">}
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="44"> class="hljs-ln-code"> class="hljs-ln-line">
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="45"> class="hljs-ln-code"> class="hljs-ln-line">// 控制电机停止
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="46"> class="hljs-ln-code"> class="hljs-ln-line">void Motor_Stop(void) {
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="47"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_ResetBits(L298N_PORT, IN1_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="48"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_ResetBits(L298N_PORT, IN2_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="49"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_ResetBits(L298N_PORT, IN3_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="50"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_ResetBits(L298N_PORT, IN4_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="51"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_ResetBits(L298N_PORT, ENA_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="52"> class="hljs-ln-code"> class="hljs-ln-line"> GPIO_ResetBits(L298N_PORT, ENB_PIN);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="53"> class="hljs-ln-code"> class="hljs-ln-line">}
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="54"> class="hljs-ln-code"> class="hljs-ln-line">
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="55"> class="hljs-ln-code"> class="hljs-ln-line">int main(void) {
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="56"> class="hljs-ln-code"> class="hljs-ln-line"> L298N_Init();
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="57"> class="hljs-ln-code"> class="hljs-ln-line">
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="58"> class="hljs-ln-code"> class="hljs-ln-line"> while (1) {
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="59"> class="hljs-ln-code"> class="hljs-ln-line"> Motor_Forward();
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="60"> class="hljs-ln-code"> class="hljs-ln-line"> // 延时一段时间
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="61"> class="hljs-ln-code"> class="hljs-ln-line"> for (int i = 0; i < 1000000; i++);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="62"> class="hljs-ln-code"> class="hljs-ln-line">
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="63"> class="hljs-ln-code"> class="hljs-ln-line"> Motor_Backward();
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="64"> class="hljs-ln-code"> class="hljs-ln-line"> // 延时一段时间
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="65"> class="hljs-ln-code"> class="hljs-ln-line"> for (int i = 0; i < 1000000; i++);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="66"> class="hljs-ln-code"> class="hljs-ln-line">
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="67"> class="hljs-ln-code"> class="hljs-ln-line"> Motor_Stop();
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="68"> class="hljs-ln-code"> class="hljs-ln-line"> // 延时一段时间
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="69"> class="hljs-ln-code"> class="hljs-ln-line"> for (int i = 0; i < 1000000; i++);
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="70"> class="hljs-ln-code"> class="hljs-ln-line"> }
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="71"> class="hljs-ln-code"> class="hljs-ln-line">}
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="72"> class="hljs-ln-code"> class="hljs-ln-line">```
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="73"> class="hljs-ln-code"> class="hljs-ln-line">
  • class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="74"> class="hljs-ln-code"> class="hljs-ln-line">//以上代码通过STM32控制L298N电机驱动模块，实现了电机的正转、反转和停止功能。在实际应用中，可以根据需要修改代码，实现更复杂的电机控制逻辑。
    • class="hide-preCode-box"> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

    2. STM32 遥控智能车

    功能描述

    通过遥控器远程控制智能车的前进、后退、左转、右转等动作，实现对车辆的灵活操控，常用于玩具、竞赛等场景。

    硬件组成

    软件实现

    示例代码片段（以红外遥控器为例）

    1.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">#include "stm32f10x.h"
    2.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line"> 
    3.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">// 定义红外接收引脚
    4.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">#define IR_RECEIVE_PIN GPIO_Pin_0
    5.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">#define IR_RECEIVE_PORT GPIOA
    6.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line"> 
    7.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">// 红外解码函数
    8.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">void IR_Decode(void) {
    9.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">    // 实现红外信号解码逻辑
    10.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">}
    11.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line"> 
    12.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">// 电机控制函数
    13.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">void Motor_Control(uint8_t direction) {
    14.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">    // 根据方向控制电机转动
    15.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line">}
    16.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line"> 
    17.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="17"> class="hljs-ln-code"> class="hljs-ln-line">int main(void) {
    18.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="18"> class="hljs-ln-code"> class="hljs-ln-line">    // 初始化GPIO、外部中断等
    19.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="19"> class="hljs-ln-code"> class="hljs-ln-line">    GPIO_InitTypeDef GPIO_InitStructure;
    20.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="20"> class="hljs-ln-code"> class="hljs-ln-line">    EXTI_InitTypeDef EXTI_InitStructure;
    21.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="21"> class="hljs-ln-code"> class="hljs-ln-line">    NVIC_InitTypeDef NVIC_InitStructure;
    22.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="22"> class="hljs-ln-code"> class="hljs-ln-line"> 
    23.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="23"> class="hljs-ln-code"> class="hljs-ln-line">    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
    24.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="24"> class="hljs-ln-code"> class="hljs-ln-line"> 
    25.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="25"> class="hljs-ln-code"> class="hljs-ln-line">    GPIO_InitStructure.GPIO_Pin = IR_RECEIVE_PIN;
    26.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="26"> class="hljs-ln-code"> class="hljs-ln-line">    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    27.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="27"> class="hljs-ln-code"> class="hljs-ln-line">    GPIO_Init(IR_RECEIVE_PORT, &GPIO_InitStructure);
    28.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="28"> class="hljs-ln-code"> class="hljs-ln-line"> 
    29.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="29"> class="hljs-ln-code"> class="hljs-ln-line">    GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource0);
    30.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="30"> class="hljs-ln-code"> class="hljs-ln-line"> 
    31.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="31"> class="hljs-ln-code"> class="hljs-ln-line">    EXTI_InitStructure.EXTI_Line = EXTI_Line0;
    32.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="32"> class="hljs-ln-code"> class="hljs-ln-line">    EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
    33.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="33"> class="hljs-ln-code"> class="hljs-ln-line">    EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
    34.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="34"> class="hljs-ln-code"> class="hljs-ln-line">    EXTI_InitStructure.EXTI_LineCmd = ENABLE;
    35.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="35"> class="hljs-ln-code"> class="hljs-ln-line">    EXTI_Init(&EXTI_InitStructure);
    36.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="36"> class="hljs-ln-code"> class="hljs-ln-line"> 
    37.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="37"> class="hljs-ln-code"> class="hljs-ln-line">    NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn;
    38.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="38"> class="hljs-ln-code"> class="hljs-ln-line">    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x00;
    39.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="39"> class="hljs-ln-code"> class="hljs-ln-line">    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x00;
    40.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="40"> class="hljs-ln-code"> class="hljs-ln-line">    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    41.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="41"> class="hljs-ln-code"> class="hljs-ln-line">    NVIC_Init(&NVIC_InitStructure);
    42.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="42"> class="hljs-ln-code"> class="hljs-ln-line"> 
    43.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="43"> class="hljs-ln-code"> class="hljs-ln-line">    while (1) {
    44.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="44"> class="hljs-ln-code"> class="hljs-ln-line">        // 主循环
    45.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="45"> class="hljs-ln-code"> class="hljs-ln-line">    }
    46.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="46"> class="hljs-ln-code"> class="hljs-ln-line">}
    47.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="47"> class="hljs-ln-code"> class="hljs-ln-line"> 
    48.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="48"> class="hljs-ln-code"> class="hljs-ln-line">// 外部中断处理函数
    49.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="49"> class="hljs-ln-code"> class="hljs-ln-line">void EXTI0_IRQHandler(void) {
    50.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="50"> class="hljs-ln-code"> class="hljs-ln-line">    if (EXTI_GetITStatus(EXTI_Line0) != RESET) {
    51.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="51"> class="hljs-ln-code"> class="hljs-ln-line">        // 调用红外解码函数
    52.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="52"> class="hljs-ln-code"> class="hljs-ln-line">        IR_Decode();
    53.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="53"> class="hljs-ln-code"> class="hljs-ln-line">        EXTI_ClearITPendingBit(EXTI_Line0);
    54.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="54"> class="hljs-ln-code"> class="hljs-ln-line">    }
    55.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="55"> class="hljs-ln-code"> class="hljs-ln-line">}
     class="hide-preCode-box"> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

    3. STM32 避障智能车

    功能描述

    智能车在行驶过程中，能够自动检测前方障碍物，并根据障碍物的距离和位置自动调整行驶方向，避免碰撞，常用于智能家居、物流等场景。

    硬件组成

    软件实现

    示例代码片段（以超声波传感器为例）
    1.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">#include "stm32f10x.h"
    2.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line"> 
    3.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">// 定义超声波引脚
    4.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">#define TRIG_PIN GPIO_Pin_0
    5.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">#define ECHO_PIN GPIO_Pin_1
    6.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">#define TRIG_PORT GPIOA
    7.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">#define ECHO_PORT GPIOA
    8.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line"> 
    9.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">// 测量距离函数
    10.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">float Measure_Distance(void) {
    11.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line">    // 发送触发信号
    12.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">    GPIO_SetBits(TRIG_PORT, TRIG_PIN);
    13.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">    Delay_us(20);
    14.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">    GPIO_ResetBits(TRIG_PORT, TRIG_PIN);
    15.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line"> 
    16.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line">    // 等待回声信号
    17.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="17"> class="hljs-ln-code"> class="hljs-ln-line">    while (GPIO_ReadInputDataBit(ECHO_PORT, ECHO_PIN) == 0);
    18.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="18"> class="hljs-ln-code"> class="hljs-ln-line"> 
    19.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="19"> class="hljs-ln-code"> class="hljs-ln-line">    // 启动定时器
    20.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="20"> class="hljs-ln-code"> class="hljs-ln-line">    TIM_Cmd(TIM2, ENABLE);
    21.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="21"> class="hljs-ln-code"> class="hljs-ln-line"> 
    22.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="22"> class="hljs-ln-code"> class="hljs-ln-line">    // 等待回声信号结束
    23.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="23"> class="hljs-ln-code"> class="hljs-ln-line">    while (GPIO_ReadInputDataBit(ECHO_PORT, ECHO_PIN) == 1);
    24.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="24"> class="hljs-ln-code"> class="hljs-ln-line"> 
    25.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="25"> class="hljs-ln-code"> class="hljs-ln-line">    // 停止定时器
    26.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="26"> class="hljs-ln-code"> class="hljs-ln-line">    TIM_Cmd(TIM2, DISABLE);
    27.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="27"> class="hljs-ln-code"> class="hljs-ln-line"> 
    28.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="28"> class="hljs-ln-code"> class="hljs-ln-line">    // 计算距离
    29.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="29"> class="hljs-ln-code"> class="hljs-ln-line">    uint16_t time = TIM_GetCounter(TIM2);
    30.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="30"> class="hljs-ln-code"> class="hljs-ln-line">    float distance = (float)time * 0.034 / 2;
    31.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="31"> class="hljs-ln-code"> class="hljs-ln-line"> 
    32.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="32"> class="hljs-ln-code"> class="hljs-ln-line">    // 重置定时器计数器
    33.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="33"> class="hljs-ln-code"> class="hljs-ln-line">    TIM_SetCounter(TIM2, 0);
    34.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="34"> class="hljs-ln-code"> class="hljs-ln-line"> 
    35.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="35"> class="hljs-ln-code"> class="hljs-ln-line">    return distance;
    36.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="36"> class="hljs-ln-code"> class="hljs-ln-line">}
    37.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="37"> class="hljs-ln-code"> class="hljs-ln-line"> 
    38.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="38"> class="hljs-ln-code"> class="hljs-ln-line">// 避障函数
    39.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="39"> class="hljs-ln-code"> class="hljs-ln-line">void Obstacle_Avoidance(void) {
    40.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="40"> class="hljs-ln-code"> class="hljs-ln-line">    float distance = Measure_Distance();
    41.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="41"> class="hljs-ln-code"> class="hljs-ln-line">    if (distance < 20) {
    42.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="42"> class="hljs-ln-code"> class="hljs-ln-line">        // 检测到障碍物，执行避障动作
    43.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="43"> class="hljs-ln-code"> class="hljs-ln-line">        // 例如左转
    44.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="44"> class="hljs-ln-code"> class="hljs-ln-line">        Motor_Control(LEFT);
    45.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="45"> class="hljs-ln-code"> class="hljs-ln-line">    } else {
    46.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="46"> class="hljs-ln-code"> class="hljs-ln-line">        // 没有障碍物，继续前进
    47.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="47"> class="hljs-ln-code"> class="hljs-ln-line">        Motor_Control(FORWARD);
    48.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="48"> class="hljs-ln-code"> class="hljs-ln-line">    }
    49.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="49"> class="hljs-ln-code"> class="hljs-ln-line">}
    50.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="50"> class="hljs-ln-code"> class="hljs-ln-line"> 
    51.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="51"> class="hljs-ln-code"> class="hljs-ln-line">int main(void) {
    52.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="52"> class="hljs-ln-code"> class="hljs-ln-line">    // 初始化GPIO、定时器等
    53.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="53"> class="hljs-ln-code"> class="hljs-ln-line">    GPIO_InitTypeDef GPIO_InitStructure;
    54.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="54"> class="hljs-ln-code"> class="hljs-ln-line">    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    55.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="55"> class="hljs-ln-code"> class="hljs-ln-line"> 
    56.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="56"> class="hljs-ln-code"> class="hljs-ln-line">    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
    57.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="57"> class="hljs-ln-code"> class="hljs-ln-line">    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    58.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="58"> class="hljs-ln-code"> class="hljs-ln-line"> 
    59.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="59"> class="hljs-ln-code"> class="hljs-ln-line">    // 配置TRIG引脚为推挽输出
    60.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="60"> class="hljs-ln-code"> class="hljs-ln-line">    GPIO_InitStructure.GPIO_Pin = TRIG_PIN;
    61.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="61"> class="hljs-ln-code"> class="hljs-ln-line">    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    62.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="62"> class="hljs-ln-code"> class="hljs-ln-line">    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    63.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="63"> class="hljs-ln-code"> class="hljs-ln-line">    GPIO_Init(TRIG_PORT, &GPIO_InitStructure);
    64.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="64"> class="hljs-ln-code"> class="hljs-ln-line"> 
    65.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="65"> class="hljs-ln-code"> class="hljs-ln-line">    // 配置ECHO引脚为浮空输入
    66.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="66"> class="hljs-ln-code"> class="hljs-ln-line">    GPIO_InitStructure.GPIO_Pin = ECHO_PIN;
    67.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="67"> class="hljs-ln-code"> class="hljs-ln-line">    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    68.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="68"> class="hljs-ln-code"> class="hljs-ln-line">    GPIO_Init(ECHO_PORT, &GPIO_InitStructure);
    69.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="69"> class="hljs-ln-code"> class="hljs-ln-line"> 
    70.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="70"> class="hljs-ln-code"> class="hljs-ln-line">    // 配置定时器
    71.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="71"> class="hljs-ln-code"> class="hljs-ln-line">    TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
    72.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="72"> class="hljs-ln-code"> class="hljs-ln-line">    TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;
    73.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="73"> class="hljs-ln-code"> class="hljs-ln-line">    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    74.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="74"> class="hljs-ln-code"> class="hljs-ln-line">    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    75.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="75"> class="hljs-ln-code"> class="hljs-ln-line">    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
    76.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="76"> class="hljs-ln-code"> class="hljs-ln-line"> 
    77.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="77"> class="hljs-ln-code"> class="hljs-ln-line">    while (1) {
    78.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="78"> class="hljs-ln-code"> class="hljs-ln-line">        Obstacle_Avoidance();
    79.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="79"> class="hljs-ln-code"> class="hljs-ln-line">    }
    80.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="80"> class="hljs-ln-code"> class="hljs-ln-line">}
     class="hide-preCode-box"> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

    4. STM32 寻址智能车

    功能描述

    智能车能够根据预先设定的目标位置或环境中的特定标识，自动规划路径并行驶到目标位置，常用于仓库物流、自动化生产线等场景。

    硬件组成

    软件实现

    示例代码片段（以简单的路径规划为例）
    1.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">#include "stm32f10x.h"
    2.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line"> 
    3.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">// 定义地图数组
    4.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">#define MAP_WIDTH 10
    5.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">#define MAP_HEIGHT 10
    6.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">uint8_t map[MAP_HEIGHT][MAP_WIDTH];
    7.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line"> 
    8.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">// 定义目标位置
    9.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">int target_x = 5;
    10.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">int target_y = 5;
    11.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line"> 
    12.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">// 定义当前位置
    13.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">int current_x = 0;
    14.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">int current_y = 0;
    15.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line"> 
    16.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line">// 简单路径规划函数
    17.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="17"> class="hljs-ln-code"> class="hljs-ln-line">void Path_Planning(void) {
    18.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="18"> class="hljs-ln-code"> class="hljs-ln-line">    if (current_x < target_x) {
    19.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="19"> class="hljs-ln-code"> class="hljs-ln-line">        // 向右移动
    20.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="20"> class="hljs-ln-code"> class="hljs-ln-line">        Motor_Control(RIGHT);
    21.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="21"> class="hljs-ln-code"> class="hljs-ln-line">        current_x++;
    22.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="22"> class="hljs-ln-code"> class="hljs-ln-line">    } else if (current_x > target_x) {
    23.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="23"> class="hljs-ln-code"> class="hljs-ln-line">        // 向左移动
    24.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="24"> class="hljs-ln-code"> class="hljs-ln-line">        Motor_Control(LEFT);
    25.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="25"> class="hljs-ln-code"> class="hljs-ln-line">        current_x--;
    26.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="26"> class="hljs-ln-code"> class="hljs-ln-line">    } else if (current_y < target_y) {
    27.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="27"> class="hljs-ln-code"> class="hljs-ln-line">        // 向前移动
    28.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="28"> class="hljs-ln-code"> class="hljs-ln-line">        Motor_Control(FORWARD);
    29.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="29"> class="hljs-ln-code"> class="hljs-ln-line">        current_y++;
    30.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="30"> class="hljs-ln-code"> class="hljs-ln-line">    } else if (current_y > target_y) {
    31.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="31"> class="hljs-ln-code"> class="hljs-ln-line">        // 向后移动
    32.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="32"> class="hljs-ln-code"> class="hljs-ln-line">        Motor_Control(BACKWARD);
    33.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="33"> class="hljs-ln-code"> class="hljs-ln-line">        current_y--;
    34.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="34"> class="hljs-ln-code"> class="hljs-ln-line">    }
    35.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="35"> class="hljs-ln-code"> class="hljs-ln-line">}
    36.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="36"> class="hljs-ln-code"> class="hljs-ln-line"> 
    37.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="37"> class="hljs-ln-code"> class="hljs-ln-line">int main(void) {
    38.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="38"> class="hljs-ln-code"> class="hljs-ln-line">    // 初始化GPIO、传感器等
    39.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="39"> class="hljs-ln-code"> class="hljs-ln-line">    while (1) {
    40.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="40"> class="hljs-ln-code"> class="hljs-ln-line">        Path_Planning();
    41.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="41"> class="hljs-ln-code"> class="hljs-ln-line">    }
    42.  class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="42"> class="hljs-ln-code"> class="hljs-ln-line">}
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    注：本文转载自blog.csdn.net的想要成为糕手。的文章"https://blog.csdn.net/2301_80127410/article/details/145521203"。版权归原作者所有，此博客不拥有其著作权，亦不承担相应法律责任。如有侵权，请联系我们删除。
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