From 8c825d2cb38a2bdccd78eb6526845fce24b7dc59 Mon Sep 17 00:00:00 2001
From: regg qu <825918830@qq.com>
Date: Wed, 17 Jul 2024 17:39:06 +0800
Subject: [PATCH] =?UTF-8?q?=E8=B6=85=E5=A3=B0=E6=B3=A2=E9=81=BF=E9=9A=9C?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
App/Inc/app_ultrasonic.h | 6 +++
App/Src/app_ultrasonic.c | 51 +++++++++++++++++++++++++
Core/Inc/main.h | 4 ++
Core/Src/main.c | 4 +-
MDK-ARM/CAR.uvoptx | 82 +++++++++++++++++++++++-----------------
MDK-ARM/CAR.uvprojx | 5 +++
6 files changed, 115 insertions(+), 37 deletions(-)
create mode 100644 App/Inc/app_ultrasonic.h
create mode 100644 App/Src/app_ultrasonic.c
diff --git a/App/Inc/app_ultrasonic.h b/App/Inc/app_ultrasonic.h
new file mode 100644
index 0000000..2defafd
--- /dev/null
+++ b/App/Inc/app_ultrasonic.h
@@ -0,0 +1,6 @@
+#ifndef __APP_ULTRASONIC_H
+#define __APP_ULTRASONIC_H
+
+int APP_Find_Direction(void);
+
+#endif
\ No newline at end of file
diff --git a/App/Src/app_ultrasonic.c b/App/Src/app_ultrasonic.c
new file mode 100644
index 0000000..724a251
--- /dev/null
+++ b/App/Src/app_ultrasonic.c
@@ -0,0 +1,51 @@
+#include "app_ultrasonic.h"
+#include "servo.h"
+#include "hcsr04.h"
+#include "main.h"
+#include "led.h"
+
+#define BLOCK_DISTANCE 150
+
+int APP_Find_Direction(void)
+{
+ uint32_t left_block,right_block,straight_block;
+
+ // 测定左侧障碍物距离
+ SERVO_Rotate(50);
+ HAL_Delay(300);
+ left_block = sonar_mm();
+
+ // 测定正前侧障碍物距离
+ SERVO_Rotate(90);
+ HAL_Delay(300);
+ straight_block = sonar_mm();
+
+ // 测定右侧障碍物距离
+ SERVO_Rotate(150);
+ HAL_Delay(300);
+ right_block = sonar_mm();
+
+ LED_Start(7);
+
+ if(left_block > BLOCK_DISTANCE && right_block > BLOCK_DISTANCE && straight_block > BLOCK_DISTANCE)// 前左右均无障碍物，直行
+ {
+ return STRAIGHT;
+ }
+ else if(left_block < BLOCK_DISTANCE && right_block < BLOCK_DISTANCE && straight_block < BLOCK_DISTANCE)// 前左右均有障碍物，停止并鸣笛
+ {
+ LED_SetDuty(255,0,0);
+ return STOP;
+ }
+ else if(straight_block < BLOCK_DISTANCE && left_block < BLOCK_DISTANCE)// 前左有障碍物，右转
+ {
+ return RIGHT;
+ }
+ else if (straight_block < BLOCK_DISTANCE && right_block < BLOCK_DISTANCE)// 前右有障碍物，左转
+ {
+ return LEFT;
+ }
+ else
+ {
+ return STRAIGHT;
+ }
+}
\ No newline at end of file
diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index d01cff8..afa8e32 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -106,6 +106,10 @@ void Error_Handler(void);
/* USER CODE BEGIN Private defines */
#define LOW (0)
#define HIGH (1)
+#define LEFT (0)
+#define STRAIGHT (1)
+#define RIGHT (2)
+#define STOP (3)
/* USER CODE END Private defines */
#ifdef __cplusplus
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 6b15d2e..e0a7a4b 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -105,7 +105,7 @@ int main(void)
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
BLUETOOTH_Init();
- // HC_SR04_Init();
+ HC_SR04_Init();
/* USER CODE END 2 */
/* Infinite loop */
@@ -113,7 +113,7 @@ int main(void)
while (1)
{
/* USER CODE END WHILE */
-
+
/* USER CODE BEGIN 3 */
}
diff --git a/MDK-ARM/CAR.uvoptx b/MDK-ARM/CAR.uvoptx
index b3285ad..2478158 100644
--- a/MDK-ARM/CAR.uvoptx
+++ b/MDK-ARM/CAR.uvoptx
@@ -332,7 +332,7 @@
Application/User/App
- 0
+ 1
0
0
0
@@ -348,6 +348,18 @@
0
0
+
+ 2
+ 3
+ 1
+ 0
+ 0
+ 0
+ ..\App\Src\app_ultrasonic.c
+ app_ultrasonic.c
+ 0
+ 0
+
@@ -358,7 +370,7 @@
0
3
- 3
+ 4
1
0
0
@@ -370,9 +382,9 @@
3
- 4
+ 5
1
- 0
+ 1
0
0
../Core/Src/main.c
@@ -382,7 +394,7 @@
3
- 5
+ 6
1
0
0
@@ -394,7 +406,7 @@
3
- 6
+ 7
1
0
0
@@ -406,7 +418,7 @@
3
- 7
+ 8
1
0
0
@@ -418,7 +430,7 @@
3
- 8
+ 9
1
0
0
@@ -430,7 +442,7 @@
3
- 9
+ 10
1
0
0
@@ -442,7 +454,7 @@
3
- 10
+ 11
1
0
0
@@ -454,7 +466,7 @@
3
- 11
+ 12
1
0
0
@@ -474,7 +486,7 @@
0
4
- 12
+ 13
1
0
0
@@ -486,7 +498,7 @@
4
- 13
+ 14
1
0
0
@@ -498,7 +510,7 @@
4
- 14
+ 15
1
0
0
@@ -510,7 +522,7 @@
4
- 15
+ 16
1
0
0
@@ -522,7 +534,7 @@
4
- 16
+ 17
1
0
0
@@ -534,7 +546,7 @@
4
- 17
+ 18
1
0
0
@@ -546,7 +558,7 @@
4
- 18
+ 19
1
0
0
@@ -558,7 +570,7 @@
4
- 19
+ 20
1
0
0
@@ -578,7 +590,7 @@
0
5
- 20
+ 21
1
0
0
@@ -590,7 +602,7 @@
5
- 21
+ 22
1
0
0
@@ -602,7 +614,7 @@
5
- 22
+ 23
1
0
0
@@ -614,7 +626,7 @@
5
- 23
+ 24
1
0
0
@@ -626,7 +638,7 @@
5
- 24
+ 25
1
0
0
@@ -638,7 +650,7 @@
5
- 25
+ 26
1
0
0
@@ -650,7 +662,7 @@
5
- 26
+ 27
1
0
0
@@ -662,7 +674,7 @@
5
- 27
+ 28
1
0
0
@@ -674,7 +686,7 @@
5
- 28
+ 29
1
0
0
@@ -686,7 +698,7 @@
5
- 29
+ 30
1
0
0
@@ -698,7 +710,7 @@
5
- 30
+ 31
1
0
0
@@ -710,7 +722,7 @@
5
- 31
+ 32
1
0
0
@@ -722,7 +734,7 @@
5
- 32
+ 33
1
0
0
@@ -734,7 +746,7 @@
5
- 33
+ 34
1
0
0
@@ -746,7 +758,7 @@
5
- 34
+ 35
1
0
0
@@ -766,7 +778,7 @@
0
6
- 35
+ 36
1
0
0
diff --git a/MDK-ARM/CAR.uvprojx b/MDK-ARM/CAR.uvprojx
index a09f68e..f392583 100644
--- a/MDK-ARM/CAR.uvprojx
+++ b/MDK-ARM/CAR.uvprojx
@@ -398,6 +398,11 @@
1
..\App\Src\app_line_seek.c
+
+ app_ultrasonic.c
+ 1
+ ..\App\Src\app_ultrasonic.c
+