STM32单片机智能跟随小车_红外遥控（程序+原理图+PCB+论文报告）

本设计：
基于STM32单片机智能跟随小车_红外遥控（程序+原理图+PCB+论文报告）
原理图：Altium Designer
程序编译器：keil 5
编程语言：C语言
编号C0021

资料下载
【腾讯文档】C0021 网盘链接
https://docs.qq.com/doc/DS1JjTFhXRHZXRnJj

功能描述:
1.以STM32F103RBT6为主控芯片，实现对小车的控制，使小车能够做出前进、后退、左转、右转等基本行驶动作，通过红外遥控控制小车工作模式的转换（自由行走避障模式、跟随模式）
2.利用压力传感器测重，放在小车上物品的重量在500g范围以内，可以跟随，如果超过范围，就停止不动，蜂鸣器响提示超重。

原理图（提供源文件）：

PCB（提供源文件）：

源程序（提供完整程序）：

#include "led.h"
#include "delay.h"
#include "sys.h"
#include "usart.h"	
#include "timer.h"
#include "adc.h"
#include "remote.h"   
#include "hx711.h" 
#include <string.h>
 
u8 Model=0; //???? 
u8 PWM_WIDTH=28;  
u8 RunModel=0; 

void Hw_Process()
{
  u8 key;
		
	key=Remote_Scan();	
	if(key)
		{
			Beep=1;
			delay_ms(100);	//???±300ms
			Beep=0;			
			printf("rn?ì???ü??= %drn",key);
		}
   
    		
if(key==224)// - :???? ×???????±???????		
		{
     RunModel=0;
		}
else if(key==168)// - :???? ?ú??????		
   {
	   RunModel=1;
	 } 
 if(RunModel==0) //×???????±?????????????????
  {
   if(key==194)// ???? >||
			{
			   Model=0;
 				 
				 printf("rn????rn");//
			}			 
	  else if(key==34)//|<<
			{
			   Model=4;
				 delay_ms(500);	//???±300ms 
				 Model=1;
				 
				 printf("rn×órn");//
			}
			else if(key==2) //>>|
			{
			   Model=3;
				 delay_ms(500);	//???±300ms 
				 Model=1;
  		 
				 printf("rn??rn");//
			}
			else if(key==162) //CH-
			{
			   Model=1;
				 
				 printf("rn?°??rn");//
			}
			else if(key==98) //CH
			{
			   Model=2;
 		 
				 printf("rn?ó??rn");//
			}				
			else if(key==48)  // °????ü1
			{
			   PWM_WIDTH=40;
 			 
				 printf("rn1??rn");//
			}
			else if(key==24)  // °????ü2
			{
			    PWM_WIDTH=35;
 				  
				 printf("rn2??rn");//
			}	
			else if(key==122)  // °????ü3
			{
			   PWM_WIDTH=28;
 
				 printf("rn3??rn");//
			}				
 
  }
}  
 int main(void)
 {	
	 u16 adcx;
	
	 unsigned long adtemp,adtemp1;
	 u16 Weight=0;
	u16 temp1,temp2;
	delay_init();	    	 //???±??????????	  
	 LED_Init();		  	//????????LED??????????????
 
	   
	uart_init(9600);
  //uart2_init(9600); 
	TIM3_Int_Init(10,5199);//10Khz??????????????????10??1ms   ????????·??ò?°????
  CH_SR04_Init();//???ù?¨?è????????
	Remote_Init();			//?ì????????????	 
	//ADInit();
	Beep=1;
	delay_ms(100);	//???±300ms
  Beep=0;
	delay_ms(100);	//???±300ms
	Beep=1;
	delay_ms(100);	//???±300ms
  Beep=0;
	printf("rn-----------------------------------------------rn");//
	adtemp=HX711_Read();  //???????¤????????AD??×??????????° ????????????·????????·???????ì????????×???
	Model=0;
		 	
		while(1)
		{	 
 
 
     Hw_Process();//?ì?????????í
		if(RunModel==0) //×???????±????????????????? +???ù?¨±???
		{  
       temp1=Senor_Using_Left()*10;
			 printf("rn×ó·??à??= %d cm",temp1);//?????ò????????????
       temp2=Senor_Using_Right()*10;
			 printf("??·??à??= %d cmrn",temp2);//?????ò????????????			
			 if((temp1<250||temp2<250)&&Model==1)//?°·???°????ü???è??±???
			 {
				 Model=0;
				 delay_ms(300);	//???±300ms 
				 Model=2;//?ó??
				 delay_ms(300);	//???±300ms 
			   Model=4;//??×?
				 delay_ms(300);	//???±300ms 
				 Model=1;//?°??
			 }
		}
	else if(RunModel==1) //????×????ú?????? 
	  {
			adtemp1=HX711_Read();  
			if(adtemp1>adtemp) //?????ì????AD?ó???¤???±????????????·?????
			{
			 Weight=(adtemp1-adtemp)*0.002388;   //?ù???????÷????????????????????200g ???¨8494856?¨·???200g????????Ad????-8411097?¨??????·????±????AD??????
			 printf("rn ????=%d grn",Weight);
			}	
	  if(Weight>500)//?????????ó?? 500g  ·??ù?÷±¨???????ú??
		  {
			  Beep=1;
				delay_ms(300);	//???±300ms
				Beep=0;
				delay_ms(300);	//???±300ms
			}
	  else
		  {
				  
		      temp1=Senor_Using_Left()*10;
			    printf("rn×ó·??à??= %d cm",temp1);//?????ò????????????
          temp2=Senor_Using_Right()*10;
			    printf("??·??à??= %d cmrn",temp2);//?????ò????????????		
			 
          			if((temp1<200)||(temp2<200))  // 200= 20cm   ×ó??????·?????20cm
									{
										 	  Model=0;//???? 
									}
								else   if((temp1>1000)&&(temp2>1000))
								 {
									      printf("rn????rn");
												Model=0;// 
								 }
                else if((temp1<1000)&&(temp2<1000))
								{
								    printf("rn?°??rn");
									  Model=1;// 
								    delay_ms(300);	//???±300ms 
									
									
											if(temp1>temp2) //???÷???± ???????·?à??????×ó???????????ò??????
											{

												Model=3;//??×?
												printf("rn??×?rn");
												delay_ms(200);	//???±300ms 
												       // 
											}
											else if(temp2>temp1)//???÷???± ???????·?à???????????????????ò×ó????	
											{

												Model=4;//×ó×?
												printf("rn×ó×?rn");
												delay_ms(200);	//???±300ms 
												 
											} 
								}									
		          Model=0;// 
				 
		  }
	  }
 
			
		 
		}
 }

论文报告：

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