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DIY一辆智能电磁循迹小车（提供原理图和PCB STM32程序）

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ID:163153发表于 2019-12-1 21:08|显示全部楼层
近期为了迎接校赛，折腾了很久搞了一辆电磁循迹小车，现在决定将小车的资料开源。楼主目前还是小白，大佬勿喷，欢迎大家参考和下载。
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小车采用三轮车结构，前驱，驱动部分为2个步进电机，驱动模块是A4988，电源采用2节3000mAH的松下18650锂电池，续航开源达到2-3小时。A4988模块供电电压为12V，所以板载集成了一个XL6009升压电路，电压升至12V，电源部分还有2个低压LDO，提供5V和3.3V电源，分别共给电磁循迹模块和单片机等等。XL6009升压电路有点小毛病，建议大家修改一下。
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底盘是咸鱼收的二手平衡小车之家底盘，然后自己找了2个42步进电机。
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原理图和PCB大家可以参考参考，板载有集成2片TP4056X充电芯片，这样可以方便充电，不至于每次都要取出来用专门的充电器充电。至于为什么要用2片TP4056X并联，是因为电池容量较大，单片TP4056X充电电流只有1A，充满需要6小时，实在是太久了。
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前期时间比较赶，而且是抱着划水的态度，程序比较Low,仅供参考。

单片机源程序如下:
  1. #include "led.h"
  2. #include "delay.h"
  3. #include "sys.h"
  4. #include "usart.h"
  5. #include "oled.h"
  6. #include "pwm.h"
  7. #include "key.h"
  8. #include "adc.h"
  9. #include "timer.h"
  10. #include "flash.h"

  12.       

  14. #define FLASH_START_ADDR  0x0801f000       //写入的起始地址

  16. u8 t=0,flag=0,valu;
  17. u16 pwm=15000,adc_1,adc_2,adc_3,adc_4,adc_5,adc_6;
  18. void ADC_display();       //ADC采集界面
  19. void PWM_speed();               //PWM参数
  20. void ADC_collection();           //ADC采集
  21. void MOTOR_different();       //步进电机差速      
  22. void way();             //寻迹
  23. int main(void)
  24. {      

  26.        delay_init();         //延时初始化
  27.        uart_init(9600);             //串口初始化为9600
  28.        NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);// 设置中断优先级分组2
  29.        LED_Init();                       //初始化与LED连接的硬件接口
  30.        KEY_Init();
  31.        Adc_Init();                       //ADC初始化
  32.        OLED_Init();                 //初始化OLED      
  33. //       pwm = FLASH_R(FLASH_START_ADDR);//从指定页的地址读FLASH
  34.       
  35.    TIM3_Int_Init(4999,7199);//10Khz的计数频率，计数到5000为500ms  
  36.       
  37. //       TIM4_PWM_Init(pwm,0);//不分频。PWM频率=72000/(899+1)=80Khz
  38. //       TIM_SetCompare3(TIM4,pwm/2);        
  39. //      
  40. //       TIM5_PWM_Init(pwm,0);//不分频。PWM频率=72000/(899+1)=80Khz
  41. //       TIM_SetCompare2(TIM5,pwm/2);      
  42.       
  43.        DIR1=0;
  44.        ENA1=0;         //左轮
  45.        ENA2=0;
  46.        DIR2=1;   //右轮
  47.       
  48.       
  49.       
  50.       
  51.        OLED_Show_Font_16x16(0,00,8);
  52.        OLED_Show_Font_16x16(0+16,00,9);
  53.        OLED_Show_Font_16x16(0,16,10);
  54.        OLED_Show_Font_16x16(0+16,16,11);
  55.        OLED_Show_Font_16x16(0+32,16,12);  
  56.        OLED_Show_Font_16x16(0+48,16,13);      
  57.        OLED_ShowString(0+64,16,"......",16);  //系统初始化界面
  58.        OLED_Refresh_Gram();     //更新显示到OLED
  59.        delay_ms(500);
  60.        for(valu=0;valu<128;valu++)                       //加载系统读条
  61.        {
  62.            valu++;
  63.            OLED_Fill(0,48,valu,64,1);  
  64.            delay_ms(10);
  65.        }
  66.       

  68.            while(1)
  69.            {
  70.                  way();           //寻迹
  71.                 
  72.            }

  74. }

  76. void ADC_display()
  77. {
  78.       
  79.        if(flag==0)
  80.        {
  81.            OLED_Clear();     //清屏
  82.            OLED_ShowString(5,0," ADC",24);  
  83.            OLED_Show_Font_24x24(0+58,00,7);  
  84.            OLED_Show_Font_24x24(0+80,00,8);           //显示ADC采集 字样
  85.            OLED_ShowString(0,24,"CH1:     CH2:",12);  
  86.            OLED_ShowString(0,38,"CH3:     CH4:",12);  
  87.            OLED_ShowString(0,52,"CH5:     CH6:",12);  
  88.            OLED_Refresh_Gram();     //更新显示到OLED      
  89.            flag=1;     //标志位置1
  90.        }
  91.       
  92.       
  93. //       while(1)
  94. //       {
  95.           
  96.            OLED_ShowNum(28,24, adc_1,4,12);   //ADC值
  97.            OLED_ShowNum(100,24,adc_2,4,12);   //ADC值
  98.            OLED_ShowNum(28,38, adc_3,4,12);   //ADC值
  99.            OLED_ShowNum(100,38,adc_4,4,12);   //ADC值
  100.            OLED_ShowNum(28,52, adc_5,4,12);   //ADC值
  101.            OLED_ShowNum(100,52,adc_6,4,12);   //ADC值
  102.          OLED_Refresh_Gram();     //更新显示到OLED
  103.            LED0=!LED0;
  104.           
  105.            t=KEY_Scan(0);
  106. //         if(t==KEY2_PRES)
  107. //           PWM_speed();
  108. //       }
  109.       
  110. }

  112. void PWM_speed()
  113. {
  114.        u16 a,r,p;
  115.       
  116.        OLED_Clear();       //清屏
  117.        OLED_ShowString(5,0," PWM",24);      
  118.        OLED_Show_Font_24x24(0+56,00,9);                
  119.        OLED_Show_Font_24x24(0+80,00,10);                 //显示PWM参数 字样
  120.        OLED_ShowString(0,24, "PWM CCRx:",16);  
  121.        OLED_ShowString(0,40,"Pulse:     Hz",12);  
  122.        OLED_ShowString(0,52,"Speed:     r/min",12);  
  123.       
  124.        OLED_ShowNum(70,24,pwm,5,16);  //pwm CCRx值   恢复上一次退出前的值
  125.        OLED_ShowNum(40,40,p,5,12);   //脉冲速度
  126.        OLED_ShowNum(45,52,r,3,12);   //电机转速
  127.        OLED_Refresh_Gram();     //更新显示到OLED            
  128.   

  130. //       while(1)
  131. //       {      

  133.   
  134.        t=KEY_Scan(0);           //得到键值
  135.            switch(t)
  136.            {                      
  137.                  case KEY0_PRES:
  138.                        pwm=pwm-500;   //6000-50000
  139.                            if(pwm<=6000)
  140.                                  pwm=6000;
  141.                            p=(72000000/pwm);
  142.                            r=((p*60)/3200);
  143.                        TIM4_PWM_Init(pwm,0);
  144.                    TIM_SetCompare3(TIM4,pwm/2);
  145.                        TIM5_PWM_Init(pwm,0);
  146.                    TIM_SetCompare2(TIM5,pwm/2);
  147.                        OLED_ShowNum(70,24,pwm,5,16);  //pwm CCRx值
  148.                    OLED_ShowNum(40,40,p,5,12);   //脉冲速度
  149.                    OLED_ShowNum(45,52,r,3,12);   //电机转速
  150.                    OLED_Refresh_Gram();  //更新显示到OLED
  151.                  //       FLASH_W(FLASH_START_ADDR,pwm); //从指定页的地址写入FLASH
  152.                        break;
  153.                  case KEY1_PRES:
  154.                        pwm=pwm+500;
  155.                            if(pwm>=50000)
  156.                                  pwm=50000;
  157.                            p=(72000000/pwm);
  158.                            r=((p*60)/3200);
  159.                        TIM4_PWM_Init(pwm,0);
  160.                    TIM_SetCompare3(TIM4,pwm/2);
  161.                        TIM5_PWM_Init(pwm,0);
  162.                    TIM_SetCompare2(TIM5,pwm/2);
  163.                        OLED_ShowNum(70,24,pwm,5,16);
  164.                    OLED_ShowNum(40,40,p,5,12);
  165.                    OLED_ShowNum(45,52,r,3,12);
  166.                        OLED_Refresh_Gram();//更新显示到OLED
  167.                  //       FLASH_W(FLASH_START_ADDR,pwm); //从指定页的地址写入FLASH
  168.                        break;
  169.                  case KEY2_PRES:                      
  170.                        ADC_display();
  171.                        break;
  172.                  default:
  173.                        delay_ms(10);      
  174. //           }
  175. //           OLED_ShowChar(36,52,t,12,1);//显示ASCII字符      
  176. //           OLED_ShowNum(94,52,t,3,12);       //显示ASCII字符的码值  
  177. //           OLED_ShowNum(36,52,t,3,12);       //显示ASCII字符的码值  
  178. //           OLED_Refresh_Gram();//更新显示到OLED

  180.        }      
  181. }

  183. void ADC_collection()
  184. {
  185.        adc_1=Get_Adc_Average(ADC_Channel_7,10);  //得到ADC采集值  CH7
  186.        adc_2=Get_Adc_Average(ADC_Channel_6,10);  //得到ADC采集值  CH6
  187.        adc_3=Get_Adc_Average(ADC_Channel_5,10);  //得到ADC采集值  CH5
  188.        adc_4=Get_Adc_Average(ADC_Channel_4,10);  //得到ADC采集值  CH4
  189.        adc_5=Get_Adc_Average(ADC_Channel_3,10);  //得到ADC采集值  CH3
  190.        adc_6=Get_Adc_Average(ADC_Channel_2,10);  //得到ADC采集值  CH2
  191. }

  193. void MOTOR_different()
  194. {
  195.        OLED_Show_Font_16x16(16,00,0);
  196.        OLED_Show_Font_16x16(16+16,00,1);
  197.        OLED_Show_Font_16x16(16+32,00,2);
  198.        OLED_Show_Font_16x16(16+48,00,3);
  199.        OLED_Show_Font_16x16(16+64,00,6);
  200.        OLED_Show_Font_16x16(16+80,00,7);
  201.            while(1)
  202.            {
  203.                 
  204.            }
  205. }

  207. void way()
  208. {      
  209.        PWM_speed();
  210.        while(1)
  211.        {
  212.            ADC_collection();     //ADC信号采集
  213.            ADC_display();
  214.           
  215.           
  216.            if(1500<adc_3&& adc_3<3000&& 1500<adc_4&& adc_4<3000)       //直行
  217.            {
  218.                  if(ENA1==1)
  219.                  {
  220.                        ENA1=0;         //左轮使能开启
  221.                        ENA2=0;         //右轮使能开启
  222.                  }
  223.                        TIM4_PWM_Init(pwm,0);
  224.                        TIM_SetCompare3(TIM4,pwm/2);
  225.                        TIM5_PWM_Init(pwm,0);
  226.                        TIM_SetCompare2(TIM5,pwm/2);
  227.                       
  228.                        OLED_ShowString(116,0," ",24);
  229.                        OLED_ShowString(116,0,"M",24);
  230.                        OLED_Refresh_Gram();//更新显示到OLED
  231.           
  232.            }
  233.           
  234.            if(2500<=adc_4&& adc_3<=2000)     //左转弯
  235.            {
  236.                  if(ENA1==1)
  237.                  {
  238.                        ENA1=0;         //左轮使能开启
  239.                        ENA2=0;         //右轮使能开启
  240.                  }
  241.                        TIM4_PWM_Init(pwm,0);
  242.                        TIM_SetCompare3(TIM4,pwm/2);
  243.                        TIM5_PWM_Init(pwm/2,0);
  244.                        TIM_SetCompare2(TIM5,pwm/4);
  245.                       
  246.                        OLED_ShowString(116,0," ",24);
  247.                        OLED_ShowString(116,0,"L",24);
  248.                        OLED_Refresh_Gram();//更新显示到OLED
  249.           
  250.            }
  251.           
  252.            if(adc_4<2000&& 2500<adc_3)     //右转弯
  253.            {
  254.                  if(ENA1==1)
  255.                  {
  256.                        ENA1=0;         //左轮使能开启
  257.                        ENA2=0;         //右轮使能开启
  258.                  }          
  259.                        TIM4_PWM_Init(pwm/2,0);
  260.                        TIM_SetCompare3(TIM4,pwm/4);
  261.                        TIM5_PWM_Init(pwm,0);
  262.                        TIM_SetCompare2(TIM5,pwm/2);
  263.                       
  264.                        OLED_ShowString(116,0," ",24);
  265.                        OLED_ShowString(116,0,"R",24);
  266.                        OLED_Refresh_Gram();//更新显示到OLED
  267.           
  268.            }
  269.           
  270.            if(adc_3<300&& adc_4<300)         //停止
  271.            {
  272.                  if(ENA1==0)
  273.                  {
  274.           
  275.                        ENA1=1;         //左轮使能关闭
  276.                        ENA2=1;         //右轮使能关闭
  277.                       
  278.                  }
  279.                 
  280.                  OLED_ShowString(116,0," ",24);
  281.                  OLED_ShowString(116,0,"S",24);
  282.                  OLED_Refresh_Gram();//更新显示到OLED
  283.                 
  284.                 
  285.            }
  286.           
  287. //           delay_ms(10);
  288.        }
  289.       
  290. }
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ID:526170发表于 2020-5-3 00:14|显示全部楼层
谢谢楼主分享
ID:590242发表于 2020-6-9 21:22|显示全部楼层
请问有电磁循迹模块的bom表吗
ID:780742发表于 2021-3-31 10:09|显示全部楼层
同问，请问有电磁的bom表嘛
ID:880210发表于 2021-4-19 00:28|显示全部楼层
有传感器的原理图吗
ID:582255发表于 2022-10-12 16:05|显示全部楼层
请问那个AD采样是干什么用的
ID:65066发表于 2023-8-22 10:48|显示全部楼层

谢谢楼主分享，下载学习了
ID:1097415发表于 2023-10-28 12:35|显示全部楼层
用的什么仿真软件啊
ID:1084042发表于 2024-4-29 14:57|显示全部楼层
zzhh190807 发表于 2021-4-19 00:28
有传感器的原理图吗

亲亲 有原理图了吗
ID:1084042发表于 2024-4-29 14:58|显示全部楼层
帅同学 发表于 2021-3-31 10:09
同问，请问有电磁的bom表嘛

亲亲 有了吗
ID:1119398发表于 2024-5-6 09:44|显示全部楼层
想知道底盘大小还有电路板的尺寸大小

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