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阿克曼结构智能循迹蓝牙小车设计与制作（代码部分）

news 2026/4/30 21:48:29

一、功能概述

该项目核心功能包含两部分：

1.循迹功能

通过传感器或视觉系统识别预设路径（如黑色轨迹线或特定标记），控制车辆沿路径自动行驶，适用于固定路线场景。

2.遥控行驶功能

支持通过无线通信（如蓝牙、Wi-Fi或射频模块）接收外部指令，实现手动控制车辆的转向、速度及启停，适用于灵活操控需求。

二、技术实现差异

  • 循迹依赖环境感知与闭环控制算法（如PID调节），需校准传感器阈值或训练视觉模型。
  • 遥控侧重通信协议与实时指令解析，需确保低延迟和高可靠性。

两者可独立或协同工作，例如遥控模式下临时切换为自动循迹。

三、项目特点

该项目结构清晰，逻辑简单，非常适合初学者上手实践。

通过完成该项目，新手可以掌握基础开发流程，理解核心概念，积累实战经验。

四、代码部分

Motor.c
#include "stm32f10x.h" // Device header #include "Motor.h" void Motor_Init() { //tim2 ³õʼ»¯ 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 = 1000-1; TIM_TimeBaseInitStructure.TIM_Prescaler = 720-1; 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 TIM_OC1Init(TIM2,&TIM_OCInitStructure); TIM_OC2Init(TIM2,&TIM_OCInitStructure); TIM_OC3Init(TIM2,&TIM_OCInitStructure); TIM_OC4Init(TIM2,&TIM_OCInitStructure); TIM_Cmd(TIM2,ENABLE); //tim4³õʼ»¯ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE); GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB,&GPIO_InitStructure); TIM_InternalClockConfig(TIM4); TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInitStructure.TIM_Period = 1000-1; TIM_TimeBaseInitStructure.TIM_Prescaler = 720-1; TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0; TIM_TimeBaseInit(TIM4,&TIM_TimeBaseInitStructure); 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_OC1Init(TIM4,&TIM_OCInitStructure); TIM_OC2Init(TIM4,&TIM_OCInitStructure); TIM_OC3Init(TIM4,&TIM_OCInitStructure); TIM_OC4Init(TIM4,&TIM_OCInitStructure); TIM_Cmd(TIM4,ENABLE); } void Car_Stop() { Motor1_SetSpeed(1,0); Motor2_SetSpeed(1,0); Motor3_SetSpeed(1,0); Motor4_SetSpeed(1,0); } void Car_Forward(uint16_t Speed) { Motor1_SetSpeed(1,Speed); Motor2_SetSpeed(1,Speed); Motor3_SetSpeed(1,Speed); Motor4_SetSpeed(1,Speed); } void Car_Backward(uint16_t Speed) { Motor1_SetSpeed(0,Speed); Motor2_SetSpeed(0,Speed); Motor3_SetSpeed(0,Speed); Motor4_SetSpeed(0,Speed); } void Car_TurnLeft(uint16_t Speed) { Motor1_SetSpeed(0,Speed); Motor2_SetSpeed(1,Speed); Motor3_SetSpeed(1,Speed); Motor4_SetSpeed(0,Speed); } void Car_TurnRight(uint16_t Speed) { Motor1_SetSpeed(1,Speed); Motor2_SetSpeed(0,Speed); Motor3_SetSpeed(0,Speed); Motor4_SetSpeed(1,Speed); } void Car_TransLeft(uint16_t Speed) { Motor1_SetSpeed(1,Speed); Motor2_SetSpeed(0,Speed); Motor3_SetSpeed(1,Speed); Motor4_SetSpeed(0,Speed); } void Car_TransRight(uint16_t Speed) { Motor1_SetSpeed(0,Speed); Motor2_SetSpeed(1,Speed); Motor3_SetSpeed(0,Speed); Motor4_SetSpeed(1,Speed); } /*****************************************************/ // PA0->TIM2_CH1->MOTOR1A->Backward // PA1->TIM2_CH2->MOTOR1B->Forward //motor1 Õýת·½ÏòΪÊÓ¾õÉϵķ´×ª ¼´Dir = 0; void Motor1_SetSpeed(uint8_t Dir, uint16_t Speed) { if (Speed>=1000) Speed = 1000; if (Dir) { TIM_SetCompare2(TIM2,0); TIM_SetCompare1(TIM2,Speed); } else if (!Dir) { TIM_SetCompare1(TIM2,0); TIM_SetCompare2(TIM2,Speed); } } // PA2->TIM2_CH3->MOTOR2A->Backward // PA3->TIM2_CH4->MOTOR2B->Forward // motor2 Õýת·½ÏòΪÊÓ¾õÉϵÄÕýת ¼´DIR = 1£» void Motor2_SetSpeed(uint8_t Dir, uint16_t Speed) { if (Speed>=1000) Speed = 1000; if (Dir) { TIM_SetCompare3(TIM2,0); TIM_SetCompare4(TIM2,Speed); } else if (!Dir) { TIM_SetCompare4(TIM2,0); TIM_SetCompare3(TIM2,Speed); } } // PB6->TIM4_CH1->MOTOTR3A(OUT4A)->Backward // PB7->TIM4_CH2->MOTOTR3B(OUT4B)->Forward // motor3 Õýת·½ÏòΪÊÓ¾õÉϵÄÕýת ¼´DIR = 1£» void Motor3_SetSpeed(uint8_t Dir, uint16_t Speed) { if (Speed>=1000) Speed = 1000; if (Dir) { TIM_SetCompare1(TIM4,0); TIM_SetCompare2(TIM4,Speed); } else if (!Dir) { TIM_SetCompare2(TIM4,0); TIM_SetCompare1(TIM4,Speed); } } // PB8->TIM4_CH3->MOTOR4A(OUT3A)->Backward // PB9->TIM4_CH4->MOTOR4B(OUT3B)->Forward // MOtor4 ÕýתÊÇÊÓ¾õÉϵķ´×ª ¼´DIR = 0£» void Motor4_SetSpeed(uint8_t Dir, uint16_t Speed) { if (Speed>=1000) Speed = 1000; if (Dir) { TIM_SetCompare4(TIM4,0); TIM_SetCompare3(TIM4,Speed); } else if (!Dir) { TIM_SetCompare3(TIM4,0); TIM_SetCompare4(TIM4,Speed); } }
Motor.h
#ifndef _MOTOR_H_ #define _MOTOR_H_ void Motor_Init(void); void Car_Stop(void); void Car_Forward(uint16_t Speed); void Car_Backward(uint16_t Speed); void Car_TurnLeft(uint16_t Speed); void Car_TurnRight(uint16_t Speed); void Car_TransLeft(uint16_t Speed); void Car_TransRight(uint16_t Speed); void Motor1_SetSpeed(uint8_t Dir, uint16_t Speed); void Motor2_SetSpeed(uint8_t Dir, uint16_t Speed); void Motor3_SetSpeed(uint8_t Dir, uint16_t Speed); void Motor4_SetSpeed(uint8_t Dir, uint16_t Speed); #endif
Servo.c
#include "stm32f10x.h" // Device header #include "Servo.h" void Servo_Init() { Servo_Gpio_Init(); Servo_Time_Init(); Servo_Pwm_Set(150); } /*************************************/ void Servo_Gpio_Init() { RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_SetBits(GPIOB,GPIO_Pin_12); } void Servo_Time_Init() { RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); TIM_InternalClockConfig(TIM1); TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure; TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInitStructure.TIM_Period = 10-1; TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1; TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0; TIM_TimeBaseInit(TIM1, &TIM_TimeBaseInitStructure); TIM_ClearFlag(TIM1, TIM_FLAG_Update); TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE); NVIC_InitTypeDef NVIC_InitStructure; NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_IRQn; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; NVIC_Init(&NVIC_InitStructure); TIM_Cmd(TIM1, ENABLE); } uint16_t Arcservo_pwm; void Servo_Pwm_Set(uint16_t value) { //ÏÞ·ù if (value < 120) { value = 120; } else if (value > 180) { value = 180; } Arcservo_pwm = value; } uint16_t counter; void TIM1_UP_IRQHandler() { if (TIM_GetITStatus(TIM1,TIM_IT_Update) != RESET) { TIM_ClearITPendingBit(TIM1,TIM_IT_Update); counter++; if (counter > 2000) { counter = 0; } if (counter < Arcservo_pwm) { GPIO_SetBits(GPIOB,GPIO_Pin_12); } else { GPIO_ResetBits(GPIOB,GPIO_Pin_12); } } }
Servo.h
#ifndef _SERVO_H_ #define _SERVO_H_ void Servo_Init(void); void Servo_Pwm_Set(uint16_t value); void Servo_Gpio_Init(void); void Servo_Time_Init(void); #endif
main.c
#include "stm32f10x.h" // Device header #include "Delay.h" #include "Motor.h" #include "Sensor.h" #include "Servo.h" uint16_t ServoPwm = 150; uint8_t SensorState[4]; uint8_t Area,Last_Area; int main(void) { NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); Sensor_Init(); Motor_Init(); Servo_Init(); Car_Forward(500); while(1) { SensorState[0]=Sensor0_Get_State(); SensorState[1]=Sensor1_Get_State(); SensorState[2]=Sensor2_Get_State(); SensorState[3]=Sensor3_Get_State(); if (SensorState[0] && !SensorState[1] && !SensorState[2] && SensorState[3]) //Area 3£¬µ±Ç°´¦ÓÚÖ±Ïß { Area = 3; Servo_Pwm_Set(150); } else if (SensorState[0] && SensorState[1] && !SensorState[2] && SensorState[3]) //Area4, ÓÒСÍäµÀ { Area = 4; Servo_Pwm_Set(160); } else if (SensorState[0] && SensorState[1] && SensorState[2] && !SensorState[3]) //Area6 ,ÓÒ´óÍä { Area = 6; Servo_Pwm_Set(180); } else if (SensorState[0] && !SensorState[1] && SensorState[2] && SensorState[3]) //Area2 ,×óСÍä { Area = 2; Servo_Pwm_Set(140); } else if (!SensorState[0] && SensorState[1] && SensorState[2] && SensorState[3]) //Area0 ,×ó´óÍä { Area = 0; Servo_Pwm_Set(120); } else if (SensorState[0] && SensorState[1] && SensorState[2] && SensorState[3]) { if (Last_Area == 4) //ÓÒÖеÈÍä { Area = 5; Servo_Pwm_Set(170); } else if (Last_Area == 2) //×óÖеÈÍä { Area = 1; Servo_Pwm_Set(130); } } Last_Area = Area; Delay_ms(30); } }

此项目基于有方机器人的复刻改版制作，如有需要，也可通过私信联系

http://www.jsqmd.com/news/727719/

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