Ultrasonic obstacle avoidance

This tutorial is a comprehensive experiment combining multiple peripherals. You can first understand a single peripheral before performing this experiment.

1. Software-Hardware

• STM32F103CubeIDE

• STM32 Robot Development Board

  Ultrasonic module, 310 motor*4: external

• Type-C data cable or ST-Link

  Download programs or simulate the development board

2. Brief principle

1. Hardware schematic diagram

2. Physical connection diagram

• Ultrasonic Installation

• Motor Wiring

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For battery pack assembly, please see [5. Smart Car Experiment: Car Line Patrol]

3. Control principle

The distance of the object in front is obtained through the ultrasonic module, and the car is controlled to move forward, backward, turn left, and stop based on the distance.

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The ultrasonic module can obtain the distance of the obstacle in front, and we use this distance to determine the position of the obstacle on the car:
If the obstacle is within the distance range set by the car, we call the car's stop, retreat and left turn functions in the corresponding judgment function;
If the obstacle is not within the distance range set by the car, control the car to move forward.

• Program flow chart

3. Main functions

This tutorial does not use PID to control the movement of the car

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The functions introduced before will not be introduced again!

Function: Ultrasonic_avoidance

 Ultrasonic follow
Ultrasonic obstacle avoidance (servo PTZ version)