用的是TIM1
在timer.c里我将psc设置为71
TIM_TimeBaseStructure.TIM_Period = 99; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler =719; //设置用来作为TIMx时钟频率除数的预分频值
这样PWM信号频率就位1khz.
①循迹模块:检测到黑线时,输出端为高电平
②避障模块:检测到障碍物时,输出为低电平
//-----------------------------------------------
xunji:循迹程序
bizg: 避障程序
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