基于STM32单片机的校园导游机器人设计

附录#include"delay.h"#include"sys.h"#include"timer.h"#include"usart.h"//#include"24l01.h"//#include"spi.h"#include"oled.h"#definePB5PBout(5)//驱动电机#definePB6PBout(6)#definePB7PBout(7)#definePB8PBout(8)#defineLEDPCout(13)#definePB9GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_9)//模式切换#definePB12GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_12)//模式切换#definePB13GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_13)//左循迹传感器#definePB14GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_14)//右循迹传感器unsignedchargeq1[]={0x7E,0x04,0x03,0x00,0x01,0xEF};//播放第一段内容unsignedchargeq2[]={0x7E,0x04,0x03,0x00,0x02,0xEF};//播放第二段内容unsignedchargeq3[]={0x7E,0x04,0x03,0x00,0x03,0xEF};//播放第三段内容unsignedchargeq4[]={0x7E,0x04,0x03,0x00,0x04,0xEF};//播放第四段内容unsignedchargeq5[]={0x7E,0x04,0x03,0x00,0x05,0xEF};//播放第五段内容unsignedcharbfyy1[]={0xAA,0x55,0x01,0x55,0xAA};unsignedcharbfyy2[]={0xAA,0x55,0x02,0x55,0xAA};unsignedcharbfyy3[]={0xAA,0x55,0x03,0x55,0xAA};externunsignedcharencord[20];externunsignedcharly_da;u8car_flg=0;//接收到ic卡标识unsignedcharmov_sta=0;voiddde(u16time){u16i=0;while(time--){i=12000;while(i--);}}voidGPIO_Config(void)//配置PA2,PA3{GPIO_InitTypeDefGPIO_InitStructure;/*GPIOAclockenable*/RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOC,ENABLE);///*GPIOAConfiguration:TIM3channel1and2asalternatefunctionpush-pull*/GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0|GPIO_Pin_1;GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;//复用推挽输出GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;GPIO_Init(GPIOA,&GPIO_InitStructure);GPIO_InitStructure.GPIO_Pin=GPIO_Pin_13; //LED0-->PC.13端口配置GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP; //推挽输出GPIO_InitStructure.GPIO_Speed=GPIO