基于stm32开发的红外循迹小车_stm32红外循迹小车
本项目算是接触32来开发的第一个小项目了，虽然前期用51写过一个循迹小车，以为直接转到32会比较简单，结果还是花了大几天才把小车的参数完全调完，以此来记录下自己的学习历程（注：循迹算法并未加入PID算法）
所需原件及其模块：
1.stm32c8t6最小系统板：
2.红外循迹模块（可以只用一个五路循迹模块，不需要单个的循迹模块，使用单个循迹模块是因为需要检测起始线（比赛题目要求））
五路循迹模块：
单个循迹模块：
3.车模底板：
4.L298N电机驱动模块（不能直接用单片机给电机供电，需要用一个驱动模块）：
5.TT马达（直流电机）：
6.面包板（便于插线，单片机的接口不够用的时候使用面包板可以很好的解决这个问题）：
7.0.96寸OLED屏：
具体介绍每个原件及模块的用法：
1.红外循迹模块：检测黑线的原理是向外发射红外线，当没有遇到黑线的时候，返回回来，之后返回高电平，当遇到黑线的时候，红外被吸收，返回高电平，读取相应IO口的电平就可以知道小车此时的大致位置；
2.L298N电机驱动模块：分别是5V，12V，GND，可以通过外加电源给驱动模块供电，IN1，IN2，IN3，IN4，EN1，EN2，通过给IN口不同的电平，可以达到控制电机正反转，EN口为使能口，可以通过给EN口不同的PWM波，来达到控制小车速度，模块有四个输入接口，分别连接四个TT马达，驱动小车运动；PWM波：通过定时器来控制占空比，从而达到宏观上控速的现象；
源码程序：
wheel.c:
#include \"wheel.h\"void wheel_Init(){RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;GPIO_InitStructure.GPIO_Pin = IN1 | IN2 | IN3 | IN4;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStructure);}void Car_Go(){//左轮向前GPIO_SetBits(GPIOA, IN1);GPIO_ResetBits(GPIOA, IN2);//右轮向前GPIO_SetBits(GPIOA, IN3);GPIO_ResetBits(GPIOA, IN4);//左轮速度PWM_SetCompare2(100);//右轮速度PWM_SetCompare3(100);}void Stop(){//左轮速度PWM_SetCompare2(0);//右轮速度PWM_SetCompare3(0);}void Car_GoLeft(){//左轮向前GPIO_SetBits(GPIOA, IN1);GPIO_ResetBits(GPIOA, IN2);//右轮向前GPIO_SetBits(GPIOA, IN3);GPIO_ResetBits(GPIOA, IN4);//左轮速度PWM_SetCompare2(50);//右轮速度PWM_SetCompare3(55);}void Car_GoRight(){//左轮向前GPIO_SetBits(GPIOA, IN1);GPIO_ResetBits(GPIOA, IN2);//右轮向前GPIO_SetBits(GPIOA, IN3);GPIO_ResetBits(GPIOA, IN4);//左轮速度PWM_SetCompare2(55);//右轮速度PWM_SetCompare3(50);}void TurnLeft_Slow(){//左轮向后GPIO_ResetBits(GPIOA, IN1);GPIO_SetBits(GPIOA, IN2);//右轮向前GPIO_SetBits(GPIOA, IN3);GPIO_ResetBits(GPIOA, IN4);//左轮速度PWM_SetCompare2(75);//右轮速度PWM_SetCompare3(75);}void TurnRight_Slow(){//左轮向前GPIO_SetBits(GPIOA, IN1);GPIO_ResetBits(GPIOA, IN2);//右轮向后GPIO_ResetBits(GPIOA, IN3);GPIO_SetBits(GPIOA, IN4);//左轮速度PWM_SetCompare2(75);//右轮速度PWM_SetCompare3(75);}void TurnLeft_Fast(){//左轮向后GPIO_ResetBits(GPIOA, IN1);GPIO_SetBits(GPIOA, IN2);//右轮向前GPIO_SetBits(GPIOA, IN3);GPIO_ResetBits(GPIOA, IN4);//左轮速度PWM_SetCompare2(70);//右轮速度PWM_SetCompare3(70);}void TurnRight_Fast(){//左轮向前GPIO_SetBits(GPIOA, IN1);GPIO_ResetBits(GPIOA, IN2);//右轮向后GPIO_ResetBits(GPIOA, IN3);GPIO_SetBits(GPIOA, IN4);//左轮速度PWM_SetCompare2(70);//右轮速度PWM_SetCompare3(70);}void Angle_Left(){//左轮向后GPIO_ResetBits(GPIOA, IN1);GPIO_SetBits(GPIOA, IN2);//右轮向前GPIO_SetBits(GPIOA, IN3);GPIO_ResetBits(GPIOA, IN4);//左轮速度PWM_SetCompare2(90);//右轮速度PWM_SetCompare3(90);}void Angle_Right(){//左轮向前GPIO_SetBits(GPIOA, IN1);GPIO_ResetBits(GPIOA, IN2);//右轮向后GPIO_ResetBits(GPIOA, IN3);GPIO_SetBits(GPIOA, IN4);//左轮速度PWM_SetCompare2(90);//右轮速度PWM_SetCompare3(90);}wheel.h:
#ifndef __WHEEL_H#define __WHEEL_H#include \"stm32f10x.h\" #include \"PWM.h\"/* IN1 PA5 IN2 PA6 IN3 PA3 IN4 PA4*/#define IN1 GPIO_Pin_5#define IN2 GPIO_Pin_6#define IN3 GPIO_Pin_3#define IN4 GPIO_Pin_4void wheel_Init();//初始化车轮void Car_Go();//向前void Stop();//停车void Car_GoLeft();//当小车车身略偏右的时候，右轮速度略大于左轮，可以使小车回到正轨void Car_GoRight();//当小车车身略偏左的时候，右轮速度略大于左轮，可以使小车回到正轨void TurnLeft_Slow();//慢左转void TurnRight_Slow();//慢右转void TurnLeft_Fast();//快左转void TurnRight_Fast();//快右转void Angle_Left();//向左转直角弯void Angle_Right();//向右转直角弯#endifPWM.c:
#include \"PWM.h\"//采用定时器TIM2的通道2，通道3输出PWM波，分别控制左右轮速度void PWM_Init(void){RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_1;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStructure);TIM_InternalClockConfig(TIM2);TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;TIM_TimeBaseInitStructure.TIM_Period = 150 - 1;//ARRTIM_TimeBaseInitStructure.TIM_Prescaler = 1 - 1;//PSCTIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);TIM_OCInitTypeDef TIM_OCInitStructure;TIM_OCStructInit(&TIM_OCInitStructure);TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;TIM_OCInitStructure.TIM_Pulse = 0;//CCRTIM_OC3Init(TIM2, &TIM_OCInitStructure);TIM_OC2Init(TIM2, &TIM_OCInitStructure);TIM_Cmd(TIM2, ENABLE);}//左轮调速void PWM_SetCompare2(uint16_t Compare){TIM_SetCompare2(TIM2, Compare);}//右轮调速void PWM_SetCompare3(uint16_t Compare){TIM_SetCompare3(TIM2, Compare);}PWM.h:
#ifndef __PWM_H#define __PWM_H#include \"stm32f10x.h\" /* EN1 PA2(右轮调速) EN2 PA1(左轮调速)*/void PWM_Init();void PWM_SetCompare2(uint16_t Compare);void PWM_SetCompare3(uint16_t Compare);#endifTrace.c:讲解一下循迹代码，就是当检测到某一个具体的状态时，需要小车做出相应的反应来维护小车始终在黑线上，比如，假设此时的状态为(!DET1 && DET2 && DET3 && DET4 && DET5)即红外循迹模块检测到电平为01111，则此时黑线在小车左边，需要快速将小车左转，则我们可以将小车的左轮向后转，右轮向前转，就可以很好的转向了，此外当小车速度过快的时候，可能刚检测到黑线的时候，由于小车没反应过来，车身已经冲出赛道了，我们可以另外用一个算法来维护，假设我们冲出赛道的时候是向左转，则一旦冲出赛道（即红外循迹模块电平为11111）此时可以持续小车左转的状态，直到小车自行转到赛道上，可以继续沿着赛道循迹，当然此方法只是没学PID算法的一种下策，并不能很流畅的解决所有赛道
#include \"Trace.h\"//Flag标志位，用于存放小车偏离轨道时的上一个状态，Flag为一则上次为左转，Flag为2则上次为右转unsigned int Flag=0;//StopFlag标志位判断小车是否为第一次经过起始线unsigned int StopFlag=0;void Trace_Init(){GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOB,&GPIO_InitStructure);GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15 | GPIO_Pin_12 | GPIO_Pin_7;GPIO_Init(GPIOA,&GPIO_InitStructure);}//0为黑线void Trace(){if(DET1 && DET2 && !DET3 && DET4 && DET5) {Car_Go();Flag=0;}//11011if(DET1 && !DET2 && !DET3 && !DET4 && DET5) {Car_Go();Flag=0;}//10001if(DET1 && !DET2 && DET3 && DET4 && DET5){Car_GoLeft();Flag=1;}//10111if(DET1 && !DET2 && !DET3 && DET4 && DET5) {Car_GoLeft();Flag=1;}//10011if(!DET1 && DET2 && DET3 && DET4 && DET5) {TurnLeft_Fast();Flag=1;}//01111if(!DET1 && !DET2 && DET3 && DET4 && DET5) {Angle_Left();Flag=1;}//00111if(!DET1 && !DET2 && !DET3 && DET4 && DET5) {Angle_Left();Flag=1;}//00011if(!DET1 && !DET2 && !DET3 && !DET4 && DET5){Angle_Left();Flag=1;}//00001if(DET1 && DET2 && DET3 && !DET4 && DET5) {Car_GoRight();Flag=2;}//11101if(DET1 && DET2 && !DET3 && !DET4 && DET5) {Car_GoRight();Flag=2;}//11001if(DET1 && DET2 && DET3 && DET4 && !DET5) {TurnRight_Fast();Flag=2;}//11110if(DET1 && DET2 && DET3 && !DET4 && !DET5) {Angle_Right();Flag=2;}//11100if(DET1 && DET2 && !DET3 && !DET4 && !DET5) {Angle_Right();Flag=2;}//11000if(DET1 && !DET2 && !DET3 && !DET4 && !DET5) {Angle_Right();Flag=2;}//10000 if(!DET1 && !DET2 && !DET3 && !DET4 && !DET5) {Car_Go();Flag=0;}//00000if(DET1 && DET2 && DET3 && DET4 && DET5){if(!Flag){Car_Go();Flag=0;}if(Flag==1){TurnLeft_Fast();Flag=1;}if(Flag==2){TurnRight_Fast();Flag=2;}}}//判断小车是否为第一次经过起始线，当第二次经过时停止int Car_State(){if(DETLeft && DETRight){while(DETLeft && DETRight){}if(!StopFlag){StopFlag=1; return 0; } else return 1; }return 0;}Trace.h:
#ifndef __TRACE_H#define __TRACE_H#include \"stm32f10x.h\" #include \"wheel.h\"#include \"PWM.h\"//从左到右红外循迹模块依次#define DETLeft GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_12)#define DETRight GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_7)#define DET1 GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_15)#define DET2 GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_4)#define DET3 GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_5)#define DET4 GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_6)#define DET5 GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_7)void Trace_Init();void Trace();int Car_State();#endifOLED.c:
#include \"stm32f10x.h\"#include \"OLED_Font.h\"/*引脚配置*/#define OLED_W_SCL(x)GPIO_WriteBit(GPIOB, GPIO_Pin_8, (BitAction)(x))#define OLED_W_SDA(x)GPIO_WriteBit(GPIOB, GPIO_Pin_9, (BitAction)(x))/*引脚初始化*/void OLED_I2C_Init(void){ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; GPIO_Init(GPIOB, &GPIO_InitStructure);GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; GPIO_Init(GPIOB, &GPIO_InitStructure);OLED_W_SCL(1);OLED_W_SDA(1);}/** * @brief I2C开始 * @param 无 * @retval 无 */void OLED_I2C_Start(void){OLED_W_SDA(1);OLED_W_SCL(1);OLED_W_SDA(0);OLED_W_SCL(0);}/** * @brief I2C停止 * @param 无 * @retval 无 */void OLED_I2C_Stop(void){OLED_W_SDA(0);OLED_W_SCL(1);OLED_W_SDA(1);}/** * @brief I2C发送一个字节 * @param Byte 要发送的一个字节 * @retval 无 */void OLED_I2C_SendByte(uint8_t Byte){uint8_t i;for (i = 0; i > i));OLED_W_SCL(1);OLED_W_SCL(0);}OLED_W_SCL(1);//额外的一个时钟，不处理应答信号OLED_W_SCL(0);}/** * @brief OLED写命令 * @param Command 要写入的命令 * @retval 无 */void OLED_WriteCommand(uint8_t Command){OLED_I2C_Start();OLED_I2C_SendByte(0x78);//从机地址OLED_I2C_SendByte(0x00);//写命令OLED_I2C_SendByte(Command); OLED_I2C_Stop();}/** * @brief OLED写数据 * @param Data 要写入的数据 * @retval 无 */void OLED_WriteData(uint8_t Data){OLED_I2C_Start();OLED_I2C_SendByte(0x78);//从机地址OLED_I2C_SendByte(0x40);//写数据OLED_I2C_SendByte(Data);OLED_I2C_Stop();}/** * @brief OLED设置光标位置 * @param Y 以左上角为原点，向下方向的坐标，范围：0~7 * @param X 以左上角为原点，向右方向的坐标，范围：0~127 * @retval 无 */void OLED_SetCursor(uint8_t Y, uint8_t X){OLED_WriteCommand(0xB0 | Y);//设置Y位置OLED_WriteCommand(0x10 | ((X & 0xF0) >> 4));//设置X位置高4位OLED_WriteCommand(0x00 | (X & 0x0F));//设置X位置低4位}/** * @brief OLED清屏 * @param 无 * @retval 无 */void OLED_Clear(void){ uint8_t i, j;for (j = 0; j < 8; j++){OLED_SetCursor(j, 0);for(i = 0; i < 128; i++){OLED_WriteData(0x00);}}}/** * @brief OLED显示一个字符 * @param Line 行位置，范围：1~4 * @param Column 列位置，范围：1~16 * @param Char 要显示的一个字符，范围：ASCII可见字符 * @retval 无 */void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char){ uint8_t i;OLED_SetCursor((Line - 1) * 2, (Column - 1) * 8);//设置光标位置在上半部分for (i = 0; i < 8; i++){OLED_WriteData(OLED_F8x16[Char - \' \'][i]);//显示上半部分内容}OLED_SetCursor((Line - 1) * 2 + 1, (Column - 1) * 8);//设置光标位置在下半部分for (i = 0; i < 8; i++){OLED_WriteData(OLED_F8x16[Char - \' \'][i + 8]);//显示下半部分内容}}void OLED_ShowChinese(uint8_t Line, uint8_t Column, uint8_t num){ uint8_t i;OLED_SetCursor((Line - 1) * 2, (Column - 1) * 8);//设置光标位置在上半部分for (i = 0; i < 8; i++){OLED_WriteData(OLED_chinese[num][i]);//显示上半部分内容}OLED_SetCursor((Line - 1) * 2 + 1, (Column - 1) * 8);//设置光标位置在下半部分for (i = 0; i < 8; i++){OLED_WriteData(OLED_chinese[num][i + 8]);//显示下半部分内容}}void OLDE_ShowChinese2(uint8_t Line, uint8_t Column, uint8_t num){OLED_ShowChinese(Line,Column,num);OLED_ShowChinese(Line,Column+1,num+1);}/** * @brief OLED显示字符串 * @param Line 起始行位置，范围：1~4 * @param Column 起始列位置，范围：1~16 * @param String 要显示的字符串，范围：ASCII可见字符 * @retval 无 */void OLED_ShowString(uint8_t Line, uint8_t Column, char *String){uint8_t i;for (i = 0; String[i] != \'\\0\'; i++){OLED_ShowChar(Line, Column + i, String[i]);}}/** * @brief OLED次方函数 * @retval 返回值等于X的Y次方 */uint32_t OLED_Pow(uint32_t X, uint32_t Y){uint32_t Result = 1;while (Y--){Result *= X;}return Result;}/** * @brief OLED显示数字（十进制，正数） * @param Line 起始行位置，范围：1~4 * @param Column 起始列位置，范围：1~16 * @param Number 要显示的数字，范围：0~4294967295 * @param Length 要显示数字的长度，范围：1~10 * @retval 无 */void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length){uint8_t i;for (i = 0; i = 0){OLED_ShowChar(Line, Column, \'+\');Number1 = Number;}else{OLED_ShowChar(Line, Column, \'-\');Number1 = -Number;}for (i = 0; i < Length; i++){OLED_ShowChar(Line, Column + i + 1, Number1 / OLED_Pow(10, Length - i - 1) % 10 + \'0\');}}/** * @brief OLED显示数字（十六进制，正数） * @param Line 起始行位置，范围：1~4 * @param Column 起始列位置，范围：1~16 * @param Number 要显示的数字，范围：0~0xFFFFFFFF * @param Length 要显示数字的长度，范围：1~8 * @retval 无 */void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length){uint8_t i, SingleNumber;for (i = 0; i < Length; i++){SingleNumber = Number / OLED_Pow(16, Length - i - 1) % 16;if (SingleNumber < 10){OLED_ShowChar(Line, Column + i, SingleNumber + \'0\');}else{OLED_ShowChar(Line, Column + i, SingleNumber - 10 + \'A\');}}}/** * @brief OLED显示数字（二进制，正数） * @param Line 起始行位置，范围：1~4 * @param Column 起始列位置，范围：1~16 * @param Number 要显示的数字，范围：0~1111 1111 1111 1111 * @param Length 要显示数字的长度，范围：1~16 * @retval 无 */void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length){uint8_t i;for (i = 0; i < Length; i++){OLED_ShowChar(Line, Column + i, Number / OLED_Pow(2, Length - i - 1) % 2 + \'0\');}}/** * @brief OLED初始化 * @param 无 * @retval 无 */void OLED_Init(void){uint32_t i, j;for (i = 0; i < 1000; i++)//上电延时{for (j = 0; j < 1000; j++);}OLED_I2C_Init();//端口初始化OLED_WriteCommand(0xAE);//关闭显示OLED_WriteCommand(0xD5);//设置显示时钟分频比/振荡器频率OLED_WriteCommand(0x80);OLED_WriteCommand(0xA8);//设置多路复用率OLED_WriteCommand(0x3F);OLED_WriteCommand(0xD3);//设置显示偏移OLED_WriteCommand(0x00);OLED_WriteCommand(0x40);//设置显示开始行OLED_WriteCommand(0xA1);//设置左右方向，0xA1正常 0xA0左右反置OLED_WriteCommand(0xC8);//设置上下方向，0xC8正常 0xC0上下反置OLED_WriteCommand(0xDA);//设置COM引脚硬件配置OLED_WriteCommand(0x12);OLED_WriteCommand(0x81);//设置对比度控制OLED_WriteCommand(0xCF);OLED_WriteCommand(0xD9);//设置预充电周期OLED_WriteCommand(0xF1);OLED_WriteCommand(0xDB);//设置VCOMH取消选择级别OLED_WriteCommand(0x30);OLED_WriteCommand(0xA4);//设置整个显示打开/关闭OLED_WriteCommand(0xA6);//设置正常/倒转显示OLED_WriteCommand(0x8D);//设置充电泵OLED_WriteCommand(0x14);OLED_WriteCommand(0xAF);//开启显示OLED_Clear();//OLED清屏}OLED.h:
#ifndef __OLED_H#define __OLED_Hvoid OLED_Init(void);void OLED_Clear(void);void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char);void OLED_ShowString(uint8_t Line, uint8_t Column, char *String);void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length);void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);void OLED_ShowChinese(uint8_t Line, uint8_t Column, uint8_t num);void OLDE_ShowChinese2(uint8_t Line, uint8_t Column, uint8_t num);#endifOLED_Font.h(字模库)（该字库为取模软件生成，若有想展示的字可以自行取模）:
#ifndef __OLED_FONT_H#define __OLED_FONT_Hconst uint8_t OLED_chinese[][16]={//注意第二行和第三行要调转一下位置0x20,0x20,0x24,0x24,0x24,0xA4,0x24,0x24,0x40,0xC0,0x7E,0x40,0x40,0x3F,0x22,0x22,0x20,0xFF,0x20,0x22,0x2C,0x20,0x20,0x00,0x20,0x03,0x0C,0x10,0x20,0x40,0xF8,0x00,/*\"武\",0*/0x10,0x60,0x02,0x0C,0xC0,0x02,0x1E,0xE2,0x04,0x04,0x7C,0x03,0x80,0x80,0x40,0x20,0x02,0x02,0x02,0xE2,0x1E,0x00,0x00,0x00,0x13,0x0C,0x13,0x20,0x40,0x80,0x80,0x00,/*\"汉\",2*/0x00,0x04,0x04,0x04,0x04,0x04,0x04,0xFC,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x3F,0x04,0x04,0x04,0x04,0x04,0x04,0x00,0x00,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x00,/*\"工\",4*/0x24,0x24,0xA4,0xFE,0x23,0x22,0x00,0x3E,0x08,0x06,0x01,0xFF,0x01,0x06,0x40,0x49,0x22,0x22,0x22,0x22,0x22,0x3E,0x00,0x00,0x49,0x49,0x7F,0x49,0x49,0x49,0x41,0x00,/*\"程\",6*/0x20,0x20,0x20,0x20,0x20,0x20,0x20,0xFF,0x80,0x80,0x40,0x20,0x10,0x0C,0x03,0x00,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x00,0x03,0x0C,0x10,0x20,0x40,0x80,0x80,0x00,/*\"大\",8*/0x40,0x30,0x11,0x96,0x90,0x90,0x91,0x96,0x04,0x04,0x04,0x04,0x04,0x44,0x84,0x7E,0x90,0x90,0x98,0x14,0x13,0x50,0x30,0x00,0x06,0x05,0x04,0x04,0x04,0x04,0x04,0x00,/*\"学\",10*/0x00,0x00,0xF8,0x88,0x88,0x88,0x88,0xFF,0x00,0x00,0x1F,0x08,0x08,0x08,0x08,0x7F,0x88,0x88,0x88,0x88,0xF8,0x00,0x00,0x00,0x88,0x88,0x88,0x88,0x9F,0x80,0xF0,0x00,/*\"电\",12*/0x20,0x10,0x4C,0x47,0x54,0x54,0x54,0x54,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x54,0x54,0x54,0xD4,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x0F,0x30,0x40,0xF0,0x00,/*\"气\",14*/0x00,0x80,0x60,0xF8,0x07,0x00,0x04,0x24,0x01,0x00,0x00,0xFF,0x00,0x00,0x00,0xF9,0x24,0x25,0x26,0x24,0x24,0x24,0x04,0x00,0x49,0x49,0x49,0x49,0x49,0xF9,0x00,0x00,/*\"信\",16*/0x00,0x00,0x00,0xFC,0x54,0x54,0x56,0x55,0x40,0x30,0x00,0x03,0x39,0x41,0x41,0x45,0x54,0x54,0x54,0xFC,0x00,0x00,0x00,0x00,0x59,0x41,0x41,0x73,0x00,0x08,0x30,0x00,/*\"息\",18*/0x40,0x30,0x11,0x96,0x90,0x90,0x91,0x96,0x04,0x04,0x04,0x04,0x04,0x44,0x84,0x7E,0x90,0x90,0x98,0x14,0x13,0x50,0x30,0x00,0x06,0x05,0x04,0x04,0x04,0x04,0x04,0x00,/*\"学\",20*/0x00,0xFE,0x22,0x5A,0x86,0x10,0x0C,0x24,0x00,0xFF,0x04,0x08,0x07,0x80,0x41,0x31,0x24,0x25,0x26,0x24,0x24,0x14,0x0C,0x00,0x0F,0x01,0x01,0x3F,0x41,0x41,0x71,0x00,/*\"院\",22*/0x00,0x00,0xF8,0x88,0x88,0x88,0x88,0xFF,0x00,0x00,0x1F,0x08,0x08,0x08,0x08,0x7F,0x88,0x88,0x88,0x88,0xF8,0x00,0x00,0x00,0x88,0x88,0x88,0x88,0x9F,0x80,0xF0,0x00,/*\"电\",24*/0x80,0x82,0x82,0x82,0x82,0x82,0x82,0xE2,0x00,0x00,0x00,0x00,0x00,0x40,0x80,0x7F,0xA2,0x92,0x8A,0x86,0x82,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,/*\"子\",26*/0x00,0x80,0x60,0xF8,0x07,0x00,0x04,0x24,0x01,0x00,0x00,0xFF,0x00,0x00,0x00,0xF9,0x24,0x25,0x26,0x24,0x24,0x24,0x04,0x00,0x49,0x49,0x49,0x49,0x49,0xF9,0x00,0x00,/*\"信\",28*/0x00,0x00,0x00,0xFC,0x54,0x54,0x56,0x55,0x40,0x30,0x00,0x03,0x39,0x41,0x41,0x45,0x54,0x54,0x54,0xFC,0x00,0x00,0x00,0x00,0x59,0x41,0x41,0x73,0x00,0x08,0x30,0x00,/*\"息\",30*/0x00,0x04,0x04,0x04,0x04,0x04,0x04,0xFC,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x3F,0x04,0x04,0x04,0x04,0x04,0x04,0x00,0x00,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x00,/*\"工\",32*/0x24,0x24,0xA4,0xFE,0x23,0x22,0x00,0x3E,0x08,0x06,0x01,0xFF,0x01,0x06,0x40,0x49,0x22,0x22,0x22,0x22,0x22,0x3E,0x00,0x00,0x49,0x49,0x7F,0x49,0x49,0x49,0x41,0x00,//\"程\",34*};/*OLED字模库，宽8像素，高16像素*/const uint8_t OLED_F8x16[][16]={0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 00x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 10x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//\" 20x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 30x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 40xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 50x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 60x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//\' 70x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 80x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 90x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 100x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 110x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 120x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 130x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 140x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 150x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 160x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 170x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 180x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 190x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 200x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 210x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 220x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 230x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 240x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 250x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 260x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 270x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,// 300x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 310xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 320x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 330x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 340xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 350x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 360x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 370x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 380xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 390x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 400x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 410x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 420x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 430x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 440x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 450x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 460xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 470x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 480xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 490x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 500x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 510x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 520x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 530x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 540xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 550x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 560x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 570x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 580x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 590x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\\ 600x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 610x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 620x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 630x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 640x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 650x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 660x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 670x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 680x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 690x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 700x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 710x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 720x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 730x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 740x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 750x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 760x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 770x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 780x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 790x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 800x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 810x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 820x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 830x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 840x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 850x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 860x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 870x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 880x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 890x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 900x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 910x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 920x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 930x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94};#endif最后将小车的布线及演示展示于下：
小车循迹演示
