更新日志Logs - HRex39/STM32_car GitHub Wiki

Logs

HCR 2021/6/10

1. Things about Delay:
   eg.. delay_ms(1000)

2. Things about Infrared:
   IF GPIO_ReadInputDataBit == 0
   THEN there is the obstacle
   eg..

   if (GPIO_ReadInputDataBit(GPIOA, Infra_Left) == 0)
      	GPIO_ResetBits(GPIOC, LED1);
   else
      	GPIO_SetBits(GPIOC, LED1);
   

3. Thing about Ultrasonic:

   • RCC_APB1PeriphClockCmd: Enables or disables the Low Speed APB (APB1) peripheral clock.
   • RCC_APB2PeriphClockCmd: Enables or disables the High Speed APB (APB2) peripheral clock.

YSK 2021/6/11

• You can just use following code to run the car:

  • Next two should use with delay:

    Go_Forward();delay_ms(1000);
    Go_Back();delay_ms(1000);
    

  • Others just easily use it:

    Car_Stop();
    Turn_Left();
    Turn_Right();
    Turn_Around();
    

• You can just use following code to test or use Infrared:

  //Distance less than threshold will light the LED
  void LED_Check_Infrared(uint16_t GPIO_Pin);
  //Distance less than threshold return true, else return false 
  bool Get_Infrared(uint16_t GPIO_Pin);
  

• I move some test code to test() in test.h

YSK 2021/6/16

1. 4个红外pin口的的定义，初始化时使用的是GPIOA。

   1. port.h line9

2. 修正轨迹时的时间延迟（即修正的幅度）。

   #define vertifyTime 50

3. 前方障碍的阈值修改。

   #define threshold 10（cm）