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#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "OLED.h"
#include "Motor.h"
#include "Servo.h"
#include "uart.h"
#include "PWM.h"
u16 Cx,Cy;	


/**************************************************************************
  摄像头传输数据   A为角度正负
                   B为角度大小
				   C,D,E分别为三个标志位（摄像头视野里总左向右依次三个）
				   F为停车标志位
**************************************************************************/

int a=0;
int b=0;
int c=0;

float Angle;

int main(void)
{
/**********************************************
		       定义蜂鸣器io口
**********************************************/
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
	
	GPIO_InitTypeDef GPIO_Initstructure;
	GPIO_Initstructure.GPIO_Mode = GPIO_Mode_Out_PP;
	GPIO_Initstructure.GPIO_Pin = GPIO_Pin_12;
	GPIO_Initstructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOB,&GPIO_Initstructure);
	GPIO_SetBits(GPIOB,GPIO_Pin_12);
	
	Servo_Init();
	
	Motor_Init1();
	Motor_Init2();
	
	USART1_Init();
  
	OLED_Init();
	while (1)
		
	{
        Servo_SetAngle(Angle);

//	    OLED_ShowSignedNum(1, 1, B, 3);	
//		
//	    OLED_ShowSignedNum(1, 6, C, 3);		
//	    OLED_ShowSignedNum(2, 1, D, 3);		
//	    OLED_ShowSignedNum(2, 6, E, 3);		
//		
//	    OLED_ShowSignedNum(3, 1, F, 3);		
//		
//	    OLED_ShowSignedNum(3, 6, a, 3);		
		
/**********************************************
		          驱动
**********************************************/
        
	    if(F==1)//识别标志变量复复赋值
		{
			b=1;
		}
		if(b==0)//电机占空比
		{
			Motor_SetSpeed1(40);		
			Motor_SetSpeed2(40);
		}
	    else if(b==1)//识别到标志位停车，蜂鸣器和灯光响应
		{
			Motor_SetSpeed1(0);		
			Motor_SetSpeed2(0);
			GPIO_ResetBits(GPIOB,GPIO_Pin_12);
			Delay_s(1);
			
			GPIO_SetBits(GPIOB,GPIO_Pin_12);
			Delay_s(6000);
		}
/*******************************************
        识别岔路第一次忽略第二次进入 
*******************************************/

		if(D==1&&E==1&&a==0)
		{
			Angle=0;
			Delay_ms(800);
			a++;
		}
		else
	    {
		    Angle=B;
	    }

	}
}

[链接文本]([链接文本](``````
#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "LED.h"
#include "PWM.h"
#include "AD.h"
#include "OLED.h"
//uint8_t i;
uint16_t AD0, AD1, AD2, AD3, AD4;
int main(void)
{
     int a=0;
	  OLED_Init();
      AD_Init();
	  LED_Init();
	  PWM_Init();
	
		LED1_ON();
	    LED1_OFF();
	OLED_ShowString(1, 1, "AD4:");
	OLED_ShowString(2, 1, "AD1:");
	OLED_ShowString(3, 1, "AD2:");
	OLED_ShowString(4, 1, "AD3:");
    OLED_ShowString(1, 9, "D0:");
	OLED_ShowString(2, 9, "a:");
		while (1)
	{
		AD0 = AD_GetValue(ADC_Channel_2);//YOU2
		AD1 = AD_GetValue(ADC_Channel_3);//YOU1
		AD2 = AD_GetValue(ADC_Channel_4);//ZHONG
		AD3 = AD_GetValue(ADC_Channel_5);//ZUO1
		AD4 = AD_GetValue(ADC_Channel_6);//ZUO2
		
			if(AD2<1000)//直走
	{
	     TIM_SetCompare1(TIM2, 80);  //YOULUN
	     TIM_SetCompare2(TIM2, 80);//ZUOLUN
	}
	
	else if(AD1<1000)//右转
	{
	     TIM_SetCompare1(TIM2, 10);  
	     TIM_SetCompare2(TIM2, 100);
	}
	else if(AD3<1000 ) //左转
		{
	     TIM_SetCompare1(TIM2, 100);  
	     TIM_SetCompare2(TIM2, 10 );
	}

	else 
	{
		 TIM_SetCompare1(TIM2,0);
	     TIM_SetCompare2(TIM2, 0 );
	}
//		 if(AD4<1000) //左转DA
//		{
//	     TIM_SetCompare1(TIM2, 90);  
//	     TIM_SetCompare2(TIM2, 10 );
//	}
	
     if(AD4<1000 && AD2<1000 && a==0)      //zuozhuanxiaoquan
	{
		  a=1;
		  TIM_SetCompare1(TIM2,50);
	      TIM_SetCompare2(TIM2, 0 );
		  Delay_ms(500);
	}	
	 if(AD1<1000 && AD2<1000 &&AD3<1000 && a==1)      //zuozhuanxiaoquan
	{
		  a=2;
		  TIM_SetCompare1(TIM2,50);
	      TIM_SetCompare2(TIM2, 0 );
		  Delay_ms(500);
	}	

		else  if(AD2<1000 && AD1<1000 && AD3<1000&& a==2)
	{
			a=3;
		Buzzer_ON();
	    Delay_ms (600);
        Buzzer_OFF();
		Delay_ms (100);
		Buzzer_ON();
		Delay_ms (100);
		Buzzer_OFF();
		Delay_ms (100);
		Buzzer_ON();
		Delay_ms (100);
		Buzzer_OFF(); 	
	}
		
	if(a==3 && AD2<1000 && AD1<1000 && AD3<1000)
	{
	     TIM_SetCompare1(TIM2, 0);  
	     TIM_SetCompare2(TIM2, 0 );
		 Delay_ms (3000);
         TIM_SetCompare1(TIM2, 0);  
	     TIM_SetCompare2(TIM2, 0 );
	}
        OLED_ShowNum(1, 5, AD4, 4);
		OLED_ShowNum(2, 5, AD1, 4);
		OLED_ShowNum(3, 5, AD2, 4);
		OLED_ShowNum(4, 5, AD3, 4);
		OLED_ShowNum(1, 10, AD0, 4);
		OLED_ShowNum(2, 10, a, 4);
}
		
	
}