#include "stm32f10x.h" // Device header #include "delay.h" #include "OLED.h" #include "wheel.h" #include "PWM.h" #include "Timer.h" #include "track.h" #include "drive.h" #include "Buzzer.h" #include "Encoder.h" #include "PID将这个改成可以循迹虚线的代码

### 实现循迹虚线功能的代码示例 基于STM32F10x实现循迹虚线功能，需要结合PWM、Timer、Encoder和PID算法。以下是一个完整的解决方案，包括硬件初始化、PID控制逻辑以及如何通过编码器反馈调整电机速度以实现循迹。 #### 硬件初始化 首先，初始化系统时钟、GPIO、定时器（用于生成PWM信号）和编码器（用于反馈电机位置）。以下是初始化代码示例： ```c #include "stm32f10x.h" // 初始化系统时钟 void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; // 配置系统时钟为72MHz RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { while (1); // 错误处理 } RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) { while (1); // 错误处理 } } // 初始化GPIO void GPIO_Init(void) { GPIO_InitTypeDef GPIO_InitStruct = {0}; __HAL_RCC_GPIOA_CLK_ENABLE(); // 启用GPIOA时钟 __HAL_RCC_GPIOB_CLK_ENABLE(); // 启用GPIOB时钟 // 配置PA8为TIM1_CH1输出PWM GPIO_InitStruct.Pin = GPIO_PIN_8; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); // 配置PB6和PB7为输入，用于编码器反馈 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_PULLUP; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); } // 初始化TIM1用于PWM输出 void TIM_PWM_Init(void) { TIM_OC_InitTypeDef sConfigOC = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; __HAL_RCC_TIM1_CLK_ENABLE(); htim1.Instance = TIM1; htim1.Init.Prescaler = 72 - 1; // 设置分频系数 htim1.Init.CounterMode = TIM_COUNTERMODE_UP; htim1.Init.Period = 1000 - 1; // 设置计数周期 htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) { while (1); // 错误处理 } sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.Pulse = 500; // 初始占空比50% sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) { while (1); // 错误处理 } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig); HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); } // 初始化TIM3用于编码器模式 void TIM_Encoder_Init(void) { TIM_Encoder_InitTypeDef sConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; __HAL_RCC_TIM3_CLK_ENABLE(); htim3.Instance = TIM3; htim3.Init.Prescaler = 0; htim3.Init.CounterMode = TIM_COUNTERMODE_UP; htim3.Init.Period = 65535; htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK) { while (1); // 错误处理 } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig); HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL); } ``` #### PID控制器实现 PID控制器用于根据编码器反馈调整PWM占空比，从而控制电机速度。以下是PID控制器的实现代码： ```c typedef struct { float Kp; float Ki; float Kd; float SetPoint; float Error; float LastError; float Integral; float Output; } PID_t; void PID_Init(PID_t *pid, float Kp, float Ki, float Kd, float SetPoint) { pid->Kp = Kp; pid->Ki = Ki; pid->Kd = Kd; pid->SetPoint = SetPoint; pid->Error = 0; pid->LastError = 0; pid->Integral = 0; pid->Output = 0; } float PID_Compute(PID_t *pid, float Input) { pid->Error = pid->SetPoint - Input; pid->Integral += pid->Error; float Derivative = pid->Error - pid->LastError; pid->Output = pid->Kp * pid->Error + pid->Ki * pid->Integral + pid->Kd * Derivative; pid->LastError = pid->Error; return pid->Output; } ``` #### 循迹虚线功能主循环 在主循环中，读取编码器值并使用PID控制器调整PWM占空比，从而实现循迹虚线功能。 ```c int main(void) { SystemClock_Config(); GPIO_Init(); TIM_PWM_Init(); TIM_Encoder_Init(); PID_t pid; PID_Init(&pid, 0.5, 0.01, 0.1, 1000); // 设置目标值为1000 while (1) { uint32_t encoder_value = __HAL_TIM_GET_COUNTER(&htim3); // 获取编码器值 float pwm_duty_cycle = PID_Compute(&pid, encoder_value); // 计算PWM占空比 // 限制占空比范围 if (pwm_duty_cycle > 1000) pwm_duty_cycle = 1000; if (pwm_duty_cycle < 0) pwm_duty_cycle = 0; __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, pwm_duty_cycle); // 设置PWM占空比 HAL_Delay(10); // 延时以便稳定 } } ``` ### 注意事项 - 编码器反馈的精度直接影响PID控制效果，需确保编码器安装正确[^1]。 - PID参数（Kp、Ki、Kd）需要根据具体硬件进行调优[^2]。