STM32+MPU6050驱动舵机程序

ID:977469 · 发表于 2021-12-6 19:20

#include "all.h"
#include "timer.h"
#include "pwm.h"
#include "delay.h"
#include "usart.h"
#include "I2C.h"
#include "math.h"
#include "key.h"
#include "mpu6050.h"
#include "inv_mpu.h"
#include "inv_mpu_dmp_motion_driver.h"
#include "OLED_I2C.h"
int main(void)
{
float pitch,roll,yaw;int t=0,s=0;
char YAW[10]={0},PITCH[10]={0},ROLL[10]={0};
SystemInit();
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
delay_init();
uart_init(115200);
TIM3_PWM_Init(1999,719);
TIM2_PWM_Init(1999,719);
TIM4_Int_Init(999,7199);
KEY_Init();
MPU_Init();
I2C_Configuration();//OLED
OLED_Init();
OLED_CLS();//清屏
while(mpu_dmp_init())
{
OLED_ShowStr(0,0,"MPU6050 Error",2);
delay_ms(200);
}
OLED_CLS();
OLED_ShowStr(0,0,"MPU6050 OK",1);
OLED_ShowStr(0,2,"yaw",1);OLED_ShowStr(0,1,"pitch",1);OLED_ShowStr(0,3,"roll",1);
while(1)
{
if(flag==0&&KEY1==1)
{
s=s+50;
while(KEY1);
if(s>=300)s=0;
TIM_SetCompare1(TIM3,s);
}
if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0&&flag==1)
{
TIM_SetCompare1(TIM3,(int)(yaw+107));
TIM_SetCompare2(TIM3,(int)(pitch+93));
TIM_SetCompare2(TIM2,(int)(-roll+67));
}
if(t%10==0&&mpu_dmp_get_data(&pitch,&roll,&yaw)==0)
{
sprintf(YAW,"%6.1f",yaw);OLED_ShowStr(30,2,YAW,1);
sprintf(PITCH,"%6.1f",pitch);OLED_ShowStr(30,1,PITCH,1);
sprintf(ROLL,"%6.1f",roll);OLED_ShowStr(30,3,ROLL,1);
t=0;
}
t++;
}
}

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c8t6通过传感器控制舵机.7z (274.83 KB, 下载次数: 74)

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