“我们不做一锤子买卖，只做手艺成长的长期伙伴！”
目录
一、视频展示
二、项目简介
三、原理图设计
四、PCB硬件设计
五、程序设计
六、资料分享
一、视频展示
基于STM32的酒店送餐小车的设计与实现 -视频分享
二、项目简介
题目：基于STM32的酒店送餐小车的设计与搭建
主控: STM32f103c8t6
显现:OLED显示屏
三个循迹模块
避障检测：超声波
声光报警：LED+蜂鸣器
三按键
电池供电
功能：
1、OLED液晶显示屏选择餐桌，显示到达状态。
到达餐桌位置，可按键选择供餐点，到达后停留十秒，然后绕圈回到出发点。就是2、绕黑线转动一圈，有三个供餐点，小车左侧检测到黑色标贴时，即
三、原理图设计
四、PCB硬件设计
五、程序设计
#include "stm32f10x.h" // Device header
#include "delay.h"
#include "lcd.h"
#include "timer.h"
#include "IOput.h"
#include "HW_Track.h"
#include "wave.h"
#include "usart.h"
#include "MOTOR.h"
#include "sim900a.h"
extern u8 res,res1;
u8 mode,set,speed,cound,speed_flag;
u8 step,count,count1=0,fang_flag=1,sen_flag=1;
void Wave(void)
{length = Senor_Using(); //超声波程序if(length>20){go(70,70);OLED_ShowCH(72,4,"前进");}else{time_count = 0;while(time_count <= 100){back(70,70);OLED_ShowCH(72,4,"后退");}time_count = 0;while(time_count <= 60){turn_left(98,98);OLED_ShowCH(72,4,"左转");}}
}
void TrackWave(void)
{if(length>20){BEEP=1;HW_Track(); //循迹程序OLED_ShowCH(72,4," ");}else{BEEP=0;stop();OLED_ShowCH(72,4,"停止");}length = Senor_Using(); //超声波程序
}
int main (void)
{delay_init();NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);char English_message[]={"The food trolley has arrived, please pick up your food in time"}; //英文短信内容char phonenumber[]={"15980211168"}; //接受短信的号码OLED_Init();delay_ms(1);OLED_Clear();input_init();output_init();TIM2_Int_Init(71,9999);Usart3_Init(38400);TIM_PWM_Init(100,8);CH_SR04_Init();motor_init();OLED_ShowCH(72,4,"停止");OLED_ShowCH(40,2,"停止模式");sim900a_send_English_message(English_message,phonenumber);while(1){time_count++;if(time_count>=100){time_count=0;count++;}key_scan(1,1,1);OLED_ShowCH(0,0," 送 餐 小 车 ");OLED_ShowCH(0,2,"模式:");OLED_ShowCH(0,4,"运动状态:");OLED_ShowCH(0,6,"位置:");
// OLED_ShowNum(96,6,count,2,16);if(add_flag==1){add_flag=0;speed_flag++;if(speed_flag>=4)speed_flag=0;}if(speed_flag==0){step=0;OLED_ShowCH(40,6,"停止");}else if(speed_flag==1){step=1;OLED_ShowCH(40,6,"一号");}else if(speed_flag==2){step=2;OLED_ShowCH(40,6,"二号");}else if(speed_flag==3){step=3;OLED_ShowCH(40,6,"三号");}if(dec_flag==1){dec_flag=0;set=2;}if(set_flag==1){stop();set_flag=0;set++;if(set>=2){set=0;}}if(set==1){mode = 1;OLED_ShowCH(40,2,"循迹模式");}if(set==0){fang_flag=1;count1=0;mode = 0;BEEP=1;count=0;OLED_ShowCH(40,2,"停止模式");}if(set==2){mode = 2;OLED_ShowCH(40,2,"避障模式");}if(mode == 0){stop();OLED_ShowCH(72,4,"停止");}else if(mode == 1){if(fang==0){if(fang_flag==1){fang_flag=0;count1++;}}else{fang_flag=1;}if(count1==step+1){if(count>=10){sen_flag=1;TrackWave();OLED_ShowCH(96,6," ");}else{stop();if(sen_flag==1){sen_flag=0;sim900a_send_English_message(English_message,phonenumber);}OLED_ShowCH(96,6,"送达");}}else{OLED_ShowCH(96,6," ");count=0;TrackWave();}if(count1==5){count1=0;set=0;stop();OLED_ShowCH(96,6," ");}}else if(mode==2){Wave();add_flag=0;}}
}六、资料分享
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