基于stm32的循迹小车是怎样运动的

1616 循迹小车 GPIO

问答对人有帮助，内容完整，我也想知道答案 0 基于STM32的循迹小车是怎样运动的？其程序代码该怎样去实现呢？ 0
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答案对人有帮助，有参考价值 0 基于stm32循迹小车运动实例 #include “motor.h” #include “Math.h” #include “delay.h” #include “stm32f10x.h” // Device header signed short sPWMR,sPWML,dPWM; //GPIOÅäÖÃº¯Êý /void MotorGPIO_Configuration(void) { GPIO_InitTypeDef GPIO_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA\|RCC_APB2Periph_GPIOB, ENABLE); GPIO_InitStructure.GPIO_Pin = LEFT_MOTOR_GO; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_Init(LEFT_MOTOR_GO_GPIO, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = LEFT_MOTOR_PWM; GPIO_Init(LEFT_MOTOR_PWM_GPIO, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = RIGHT_MOTOR_PWM; GPIO_Init(RIGHT_MOTOR_PWM_GPIO, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = RIGHT_MOTOR_GO;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_Init(RIGHT_MOTOR_GPIO, &GPIO_InitStructure); } void run() //Ç°½ø { RIGHT_MOTOR_GO_SET; RIGHT_MOTOR_PWM_RESET;//PB9 LEFT_MOTOR_GO_SET;LEFT_MOTOR_PWM_RESET;//PB8 } / void TIM4_PWM_Init(unsigned short arr,unsigned short psc) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; GPIO_InitTypeDef GPIO_InitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);// RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA\|RCC_APB2Periph_GPIOB , ENABLE); GPIO_InitStructure.GPIO_Pin = LEFT_MOTOR_GO; ×óµç»ú·½Ïò¿ØÖÆ PB7 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_Init(LEFT_MOTOR_GO_GPIO, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = LEFT_MOTOR_PWM; //×óµç»úPWM¿ØÖÆ PB8GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //¸´ÓÃÍÆÍìÊä³öGPIO_Init(LEFT_MOTOR_PWM_GPIO, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = RIGHT_MOTOR_GO; //ÓÒµç»ú·½Ïò¿ØÖÆ PA4 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_Init(RIGHT_MOTOR_GPIO, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = RIGHT_MOTOR_PWM; //ÓÒµç»úPWM¿ØÖÆ PB9GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //¸´ÓÃÍÆÍìÊä³öGPIO_Init(RIGHT_MOTOR_PWM_GPIO, &GPIO_InitStructure); TIM_TimeBaseStructure.TIM_Period = arr; //ÉèÖÃÔÚÏÂÒ»¸ö¸üÐÂÊÂ¼þ×°Èë»î¶¯µÄ×Ô¶¯ÖØ×°ÔØ¼Ä´æÆ÷ÖÜÆÚµÄÖµ 80KTIM_TimeBaseStructure.TIM_Prescaler =psc; //ÉèÖÃÓÃÀ´×÷ÎªTIMxÊ±ÖÓÆµÂÊ³ýÊýµÄÔ¤·ÖÆµÖµ ²»·ÖÆµTIM_TimeBaseStructure.TIM_ClockDivision = 0; //ÉèÖÃÊ±ÖÓ·Ö¸î:TDTS = Tck_timTIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIMÏòÉÏ¼ÆÊýÄ£Ê½TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //¸ù¾ÝTIM_TimeBaseInitStructÖÐÖ¸¶¨µÄ²ÎÊý³õÊ¼»¯TIMxµÄÊ±¼ä»ùÊýµ¥Î»TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //Ñ¡Ôñ¶¨Ê±Æ÷Ä£Ê½:TIMÂö³å¿í¶Èµ÷ÖÆÄ£Ê½2TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //±È½ÏÊä³öÊ¹ÄÜTIM_OCInitStructure.TIM_Pulse = 0; //ÉèÖÃ´ý×°Èë²¶»ñ±È½Ï¼Ä´æÆ÷µÄÂö³åÖµTIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //Êä³ö¼«ÐÔ:TIMÊä³ö±È½Ï¼«ÐÔ¸ßTIM_OC3Init(TIM4, &TIM_OCInitStructure); //¸ù¾ÝTIM_OCInitStructÖÐÖ¸¶¨µÄ²ÎÊý³õÊ¼»¯ÍâÉèTIMxTIM_OC4Init(TIM4, &TIM_OCInitStructure); //¸ù¾ÝTIM_OCInitStructÖÐÖ¸¶¨µÄ²ÎÊý³õÊ¼»¯ÍâÉèTIMxTIM_CtrlPWMOutputs(TIM4,ENABLE); //MOE Ö÷Êä³öÊ¹ÄÜ TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable); //CH1Ô¤×°ÔØÊ¹ÄÜ TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable); //CH1Ô¤×°ÔØÊ¹ÄÜ TIM_ARRPreloadConfig(TIM4, ENABLE); //Ê¹ÄÜTIMxÔÚARRÉÏµÄÔ¤×°ÔØ¼Ä´æÆ÷ TIM_Cmd(TIM4, ENABLE); //Ê¹ÄÜTIM1 } void SetMotorSpeed(unsigned char ucChannel,signed char cSpeed) { // static short sMotorSpeed = 0; short sPWM; // float fDir = 1; if (cSpeed>=100) cSpeed = 100; if (cSpeed<=-100) cSpeed = -100;sPWM = 7201 - fabs(cSpeed)*72;switch(ucChannel){ case 0://ÓÒÂÖ TIM_SetCompare3(TIM4,sPWM); if (cSpeed>0) RIGHT_MOTOR_GO_RESET; else if(cSpeed<0) RIGHT_MOTOR_GO_SET; break; case 1://×óÂÖ TIM_SetCompare4(TIM4,sPWM); if (cSpeed>0) LEFT_MOTOR_GO_SET; else if (cSpeed<0) LEFT_MOTOR_GO_RESET; break; } } //----------------------------------ÔË¶¯º¯Êý-------------------------------- void ZYSTM32_run(signed char speed,int time) //Ç°½øº¯Êý { signed char f_speed = - speed; SetMotorSpeed(1,f_speed);//×óÂÖ //Îª¸ºÊý SetMotorSpeed(0,speed);//ÓÒÂÖ //ÎªÕýÊý delay_ms(time); //Ê±¼äÎªºÁÃë } void ZYSTM32_brake(int time) //É²³µº¯Êý { SetMotorSpeed(1,0);//×óÂÖ //Îª0 SetMotorSpeed(0,0);//ÓÒÂÖ //Îª0 RIGHT_MOTOR_GO_RESET; LEFT_MOTOR_GO_RESET; delay_ms(time); //Ê±¼äÎªºÁÃë } void ZYSTM32_Left(signed char speed,int time) //×ó×ªº¯Êý { SetMotorSpeed(1,0);//×óÂÖ //×óÂÖ²»¶¯ SetMotorSpeed(0,speed); //ÓÒÂÖÎªÕý delay_ms(time); //Ê±¼äÎªºÁÃë } void ZYSTM32_Spin_Left(signed char speed,int time) //×óÐý×ªº¯Êý { SetMotorSpeed(1,speed);//×óÂÖ //×óÂÖÎªÕý SetMotorSpeed(0,speed); //ÓÒÂÖÎªÕý delay_ms(time); //Ê±¼äÎªºÁÃë } void ZYSTM32_Right(signed char speed,int time) //ÓÒ×ªº¯Êý { signed char f_speed = - speed; SetMotorSpeed(1,f_speed);//×óÂÖ //×óÂÖÎª¸º SetMotorSpeed(0,0); //ÓÒÂÖÎª0 delay_ms(time); //Ê±¼äÎªºÁÃë } void ZYSTM32_Spin_Right(signed char speed,int time) //ÓÒÐý×ªº¯Êý { signed char f_speed = - speed; SetMotorSpeed(1,f_speed);//×óÂÖ //×óÂÖÎª¸º SetMotorSpeed(0,f_speed); //ÓÒÂÖÎª¸º delay_ms(time); //Ê±¼äÎªºÁÃë } void ZYSTM32_back(signed char speed,int time) //ºóÍËº¯Êý { signed char f_speed = - speed; SetMotorSpeed(1,speed);//×óÂÖ //ÎªÕýÊý SetMotorSpeed(0,f_speed);//ÓÒÂÖ //Îª¸ºÊý delay_ms(time); //Ê±¼äÎªºÁÃë }

2022-2-17 10:21:10 评论举报孟佳