STM32小车避障 严选参考

STM32小车避障.txt当你以为自己一无所有时，你至少还有时间，时间能抚平一切创伤，所以请不要流泪。能满足的期待，才值得期待；能实现的期望，才有价值。保持青春的秘诀，是有一颗不安分的心。不是生活决定何种品位，而是品位决定何种生活。/*u16 LeftDistance, RightDistance;ili9320_DisplayStringLine(Line12, Measure Distance ,Blue,Green);AODistance = Measure_Start();if(AODistance 20) & (car_state = 0 )/距离障碍大于25cmcar_state = 1; /为1表示小车直行Send_Motor_Data0 = 0x08; /小车直行Send_Motor_Data1 = AO_Speed;Transmit_Data(0xFB);if(AODistance 40 )Send_Motor_Data0 = 0x41; Send_Motor_Data1 = 0x5A; /左转90度Transmit_Data(0xFB);Delay_ms(500);Delay_ms(1000); /等待小车转好弯Send_Motor_Data0 = 0x08; /小车直行Send_Motor_Data1 = AO_Speed;Transmit_Data(0xFB);while(Measure_Start() 40)Steer_Corner(0, 1);Delay_ms(700);if(Measure_Start() 20) break;Steer_Corner(90, 1);Delay_ms(700);if(Measure_Start() = 40) /找到了路可以过去Steer_Corner(0, 1);Delay_ms(500); /等待一段时间直至间距可容小车通过Send_Motor_Data0 = 0x61; /右转90度Send_Motor_Data1 = 0x5A;Transmit_Data(0xFB);Delay_ms(1000);Delay_ms(500);if(LeftDistance 40) & (LeftNoWay = 1) /小车向右运动Send_Motor_Data0 = 0x08; /小车直行Send_Motor_Data1 = AO_Speed;Transmit_Data(0xFB);while(Measure_Start() 40)Steer_Corner(0, 1);Delay_ms(700);if(Measure_Start() 20) break;Steer_Corner(90, 0);Delay_ms(700);if(Measure_Start() = 40) /找到了路可以过去Steer_Corner(0, 1); /舵机归位Delay_ms(500); /等待一段时间直至间距可容小车通过Send_Motor_Data0 = 0x41; /左转90度Send_Motor_Data1 = 0x5A;Transmit_Data(0xFB);Delay_ms(500);Delay_ms(1000);if(RightDistance = 40) & (LeftNoWay = 1) ) /无路可走Send_Motor_Data0 = 0x10; /