技能梳理23@语音模块+stm32+nfc

小车nfc模块检测不同卡片播发不同声音，和上一个设计差不多，就是实现一个类似公交车刷卡播报到哪一战的效果

1、项目简介

2、实现逻辑

#见简介

3、应用场景

#公交站到站播报

4、核心代码梳理

//全局变量定义
unsigned int speed_count=0;//占空比计数器 50次一周期
char front_left_speed_duty=SPEED_DUTY;
char front_right_speed_duty=SPEED_DUTY;
char behind_left_speed_duty=SPEED_DUTY;
char behind_right_speed_duty=SPEED_DUTY;

unsigned char tick_5ms = 0;//5ms计数器，作为主函数的基本周期
unsigned char tick_1ms = 0;//1ms计数器，作为电机的基本计数器
unsigned char tick_200ms = 0;//刷新显示

char ctrl_comm = COMM_STOP;//控制指令
char ctrl_comm_last = COMM_STOP;//上一次的指令
unsigned char continue_time=0;
unsigned char bt_rec_flag=0;//蓝牙控制标志位

char id_sound = 0;


int main(void)
{
	delay_init();
	GPIOCLKInit();
	UserLEDInit();
  LCD1602Init();
	//IRCtrolInit();
	TIM2_Init();
	MotorInit();
	ServoInit();
	MeasureInit();
	RedRayInit();
	//USART3Conf(9600);
	USART2Conf(9600);

 while(1)
 {	 
	 	if(tick_5ms >= 5)
		{
			tick_5ms = 0;
			tick_200ms++;
			if(tick_200ms >= 40)
			{
				tick_200ms = 0;
				LEDToggle(LED_PIN);
				LCD1602WriteSpeed(front_left_speed,front_right_speed);
			}
//			continue_time--;//200ms 无接收指令就停车
//			if(continue_time == 0)
//			{
//				continue_time = 1;
//				CarStop();
//			}
			//do something
		
		   MeasureSpeed();
       LCD1602WriteCommand(ctrl_comm);
			 VoidRun();
		}
		
///声音控制相关
		if(id_sound != 0)
		{
			
			CarStop();
			
			if(id_sound == 1)
			{
				IO1_RESET;
				Delayms(2000);
			}
			else if(id_sound == 2)
			{
				IO2_RESET;
				Delayms(2000);
			}
			else if(id_sound == 3)
			{
				IO3_RESET;
				Delayms(2000);
			}
			
			Delayms(5000);
			
			IO1_SET;
			IO2_SET;
			IO3_SET;
			id_sound = 0;
		}
		
 }
}

void CarMove(void)
{   
	
	 BEHIND_RIGHT_EN;
	
 //左前轮
	/*
	if(front_left_speed_duty > 0)//向前
	{
		if(speed_count < front_left_speed_duty)
		{
			FRONT_LEFT_GO;
		}
		else
		{
			FRONT_LEFT_STOP;
		}
	}
	else if(front_left_speed_duty < 0)//向后
	{
		if(speed_count < (-1)*front_left_speed_duty)
		{
			FRONT_LEFT_BACK;
		}
		else
		{
			FRONT_LEFT_STOP;
		}
	}
	else                //停止
	{
		FRONT_LEFT_STOP;
	}
	*/
		//右前轮

	if(front_right_speed_duty > 0)//向前
	{
		if(speed_count < front_right_speed_duty)
		{
			FRONT_RIGHT_GO;
		}else                //停止
		{
			FRONT_RIGHT_STOP;
		}
	}
	else if(front_right_speed_duty < 0)//向后
	{
		if(speed_count < (-1)*front_right_speed_duty)
		{
			FRONT_RIGHT_BACK;
		}
		else                //停止
		{
			FRONT_RIGHT_STOP;
		}
	}
	else                //停止
	{
		FRONT_RIGHT_STOP;
	}
	
	//左后轮
	if(behind_left_speed_duty > 0)//向前
	{
		if(speed_count < behind_left_speed_duty)
		{
			BEHIND_LEFT_GO;
		}	
		else                //停止
		{
			BEHIND_LEFT_STOP;
		}
	}
	else if(behind_left_speed_duty < 0)//向后
	{
		if(speed_count < (-1)*behind_left_speed_duty)
		{
			BEHIND_LEFT_BACK;
		}
		else                //停止
		{
			BEHIND_LEFT_STOP;
		}
	}
	else                //停止
	{
		BEHIND_LEFT_STOP;
	}
	
		//右后轮
	/*
	if(behind_right_speed_duty > 0)//向前
	{
		if(speed_count < behind_right_speed_duty)
		{
			BEHIND_RIGHT_GO;
		}	
		else                //停止
		{
			BEHIND_RIGHT_STOP;
		}
	}
	else if(behind_right_speed_duty < 0)//向后
	{
		if(speed_count < (-1)*behind_right_speed_duty)
		{
			BEHIND_RIGHT_BACK;
		}	
		else                //停止
		{
			BEHIND_RIGHT_STOP;
		}
	}
	else                //停止
	{
		BEHIND_RIGHT_STOP;
	}
	*/
}


//向前
void CarGo(void)
{
	//front_left_speed_duty=SPEED_DUTY+30;
	behind_left_speed_duty=SPEED_DUTY-10;
	front_right_speed_duty=SPEED_DUTY-10;
	//behind_right_speed_duty=SPEED_DUTY;
}

//后退
void CarBack(void)
{
	//front_left_speed_duty=-SPEED_DUTY;
	front_right_speed_duty=-SPEED_DUTY;
	behind_left_speed_duty=-SPEED_DUTY;
	//behind_right_speed_duty=-SPEED_DUTY;
}

//向左
void CarLeft(void)
{
	//front_left_speed_duty=-10;
	front_right_speed_duty=SPEED_DUTY+10;
  behind_left_speed_duty=-30;
	// behind_right_speed_duty=SPEED_DUTY+60;//增加后轮驱动力
}

//向右
void CarRight(void)
{
	// front_left_speed_duty=SPEED_DUTY;
	  front_right_speed_duty=-20;
	behind_left_speed_duty=SPEED_DUTY+5;//增加后轮驱动力
	 // behind_right_speed_duty=SPEED_DUTY;
}

//停止
void CarStop(void)
{
	//front_left_speed_duty=0;
	front_right_speed_duty=0;
	behind_left_speed_duty=0;
	// behind_right_speed_duty=0;
}

void MotorInit(void)
{
	MotorGPIO_Configuration();
	CarStop();
}
    循迹，通过判断三个光电对管的状态来控制小车运动
void SearchRun(void)
{
	//三路都检测到
	if(SEARCH_L_IO == BLACK_AREA && SEARCH_M_IO == BLACK_AREA && SEARCH_R_IO == BLACK_AREA )  //三路黑线停止
	{
		CarStop();//ctrl_comm = COMM_UP;  //前进
		//return;
	}
	else if(SEARCH_L_IO == WHITE_AREA && SEARCH_M_IO ==BLACK_AREA && SEARCH_R_IO ==BLACK_AREA)//右
	{
		CarRight();//ctrl_comm = COMM_RIGHT;
	}
	else if(SEARCH_L_GPIO ==WHITE_AREA && SEARCH_M_IO ==WHITE_AREA && SEARCH_R_IO ==BLACK_AREA)
	{
	    CarRight();
	}
	else if(SEARCH_L_IO == BLACK_AREA && SEARCH_M_IO ==BLACK_AREA && SEARCH_R_IO ==WHITE_AREA)//左
	{
		CarLeft();//ctrl_comm = COMM_LEFT;
	}
	else if(SEARCH_L_IO ==BLACK_AREA && SEARCH_M_IO ==WHITE_AREA && SEARCH_R_IO ==WHITE_AREA)
	{
    CarLeft();
	}
	else if( SEARCH_L_IO == WHITE_AREA && SEARCH_M_IO == BLACK_AREA && SEARCH_R_IO ==WHITE_AREA)//中
	{
		CarGo();//ctrl_comm = COMM_UP;
	}
	else if(SEARCH_L_IO ==BLACK_AREA && SEARCH_M_IO==WHITE_AREA && SEARCH_R_IO==BLACK_AREA)
	{
	    CarGo();
	}
	else if(SEARCH_L_IO ==WHITE_AREA && SEARCH_M_IO ==WHITE_AREA && SEARCH_R_IO ==WHITE_AREA)
	{
	   CarGo();
	}
	
}

5、部分参考资料

#用的JQ8900-16P语音模块
#nfc模块也是现成的，检测到卡片通过串口向mcu发送卡号

6、注意事项

#卡号提前已经写死在小车程序里面了

完整可运行项目地址