循迹小车

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[链接文本]([链接文本](``````
#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "LED.h"
#include "PWM.h"
#include "AD.h"
#include "OLED.h"
//uint8_t i;
uint16_t AD0, AD1, AD2, AD3, AD4;
int main(void)
{
     int a=0;
	  OLED_Init();
      AD_Init();
	  LED_Init();
	  PWM_Init();
	
		LED1_ON();
	    LED1_OFF();
	OLED_ShowString(1, 1, "AD4:");
	OLED_ShowString(2, 1, "AD1:");
	OLED_ShowString(3, 1, "AD2:");
	OLED_ShowString(4, 1, "AD3:");
    OLED_ShowString(1, 9, "D0:");
	OLED_ShowString(2, 9, "a:");
		while (1)
	{
		AD0 = AD_GetValue(ADC_Channel_2);//YOU2
		AD1 = AD_GetValue(ADC_Channel_3);//YOU1
		AD2 = AD_GetValue(ADC_Channel_4);//ZHONG
		AD3 = AD_GetValue(ADC_Channel_5);//ZUO1
		AD4 = AD_GetValue(ADC_Channel_6);//ZUO2
		
			if(AD2<1000)//直走
	{
	     TIM_SetCompare1(TIM2, 80);  //YOULUN
	     TIM_SetCompare2(TIM2, 80);//ZUOLUN
	}
	
	else if(AD1<1000)//右转
	{
	     TIM_SetCompare1(TIM2, 10);  
	     TIM_SetCompare2(TIM2, 100);
	}
	else if(AD3<1000 ) //左转
		{
	     TIM_SetCompare1(TIM2, 100);  
	     TIM_SetCompare2(TIM2, 10 );
	}

	else 
	{
		 TIM_SetCompare1(TIM2,0);
	     TIM_SetCompare2(TIM2, 0 );
	}
//		 if(AD4<1000) //左转DA
//		{
//	     TIM_SetCompare1(TIM2, 90);  
//	     TIM_SetCompare2(TIM2, 10 );
//	}
	
     if(AD4<1000 && AD2<1000 && a==0)      //zuozhuanxiaoquan
	{
		  a=1;
		  TIM_SetCompare1(TIM2,50);
	      TIM_SetCompare2(TIM2, 0 );
		  Delay_ms(500);
	}	
	 if(AD1<1000 && AD2<1000 &&AD3<1000 && a==1)      //zuozhuanxiaoquan
	{
		  a=2;
		  TIM_SetCompare1(TIM2,50);
	      TIM_SetCompare2(TIM2, 0 );
		  Delay_ms(500);
	}	

		else  if(AD2<1000 && AD1<1000 && AD3<1000&& a==2)
	{
			a=3;
		Buzzer_ON();
	    Delay_ms (600);
        Buzzer_OFF();
		Delay_ms (100);
		Buzzer_ON();
		Delay_ms (100);
		Buzzer_OFF();
		Delay_ms (100);
		Buzzer_ON();
		Delay_ms (100);
		Buzzer_OFF(); 	
	}
		
	if(a==3 && AD2<1000 && AD1<1000 && AD3<1000)
	{
	     TIM_SetCompare1(TIM2, 0);  
	     TIM_SetCompare2(TIM2, 0 );
		 Delay_ms (3000);
         TIM_SetCompare1(TIM2, 0);  
	     TIM_SetCompare2(TIM2, 0 );
	}
        OLED_ShowNum(1, 5, AD4, 4);
		OLED_ShowNum(2, 5, AD1, 4);
		OLED_ShowNum(3, 5, AD2, 4);
		OLED_ShowNum(4, 5, AD3, 4);
		OLED_ShowNum(1, 10, AD0, 4);
		OLED_ShowNum(2, 10, a, 4);
}
		
	
}