一、适用场景
适用场景：移动机器人避障（左右转/刹停）、循迹小车（黑线/白线识别）、路径纠正（PID 控制输入）、自动导航原型、嵌入式传感器融合练习（多传感器融合与滤波）、课堂讲解数字/模拟传感器接入与标定。
二、器材清单
红外避障模块/红外循迹传感器模块×1
stm32f103（或其它 STM32）开发板 ×1
若干杜邦线、焊线、面包板 ×若干
稳定电源（3.3V/5V 按模块标注）×1
三、工作原理（要点）
避障模块
内部包含 IR 发射 LED + 接收器（光电二极管或光电三极管）以及比较器/放大电路。发射 IR，遇到近距离障碍物反射回接收器，电平变化由比较器输出数字信号（DO）。多数模块在板上集成了灵敏度电位器和指示 LED。
循迹模块
每一路包含 IR 发射 LED 与光电二极管/光电三极管，发射向地面红外并接收反射。白色（或亮色）反射强，黑色（或暗色）反射弱。模块常给出 AO（模拟强度）和数字 DO（经比较器阈值后的结果）两种输出。阵列（3/5/8）用于判断车辆在轨迹上的横向偏移。
四、接线示意
VCC → 5V
GND → GND
标准库
PC0 → DO
HAL库
PA0 → DO
五、示例代码
标准库
#include "stm32f10x.h" #include "forward_direction.h" int main() { em_init(); while(1) { if(GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_0) == 0 && GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_2) == 0) { stop(); }else if(GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_0) == 0 && GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_2) == 1) { goright(); }else if(GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_0) == 1 && GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_2) == 0) { goleft(); }else if(GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_0) == 1 && GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_2) == 1) { goforward(); } } // return 0; }HAL库
#include "main.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ UART_HandleTypeDef huart1; /* USER CODE BEGIN PV */ /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); static void MX_GPIO_Init(void); static void MX_USART1_UART_Init(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_USART1_UART_Init(); /* USER CODE BEGIN 2 */ /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { if(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_0) == 1) HAL_UART_Transmit(&huart1,"有黑线或距离物体过远r\n", strlen("有黑线或距离物体过远\r\n"), HAL_MAX_DELAY); else HAL_UART_Transmit(&huart1,"无黑线或距离物体过近\r\n", strlen("无黑线或距离物体过近\r\n"), HAL_MAX_DELAY); HAL_Delay(1000); /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ } /* USER CODE END 3 */ }六、讲解视频
https://www.bilibili.com/video/BV1j5mcBUEVr/?spm_id_from=333.1387.upload.video_card.click&vd_source=f7dfe1b14f260b9cc3a146d2dbfd0719
https://www.bilibili.com/video/BV1a1mwBjERe/?spm_id_from=333.1387.upload.video_card.click&vd_source=f7dfe1b14f260b9cc3a146d2dbfd0719
https://www.bilibili.com/video/BV1YCmwBmEeS/?spm_id_from=333.1387.upload.video_card.click&vd_source=f7dfe1b14f260b9cc3a146d2dbfd0719
