标题:
两轮平衡车stm32程序
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作者:
a43769745
时间:
2018-5-7 10:34
标题:
两轮平衡车stm32程序
两轮平衡车程序
stm32源程序如下:
#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "oled.h"
#include "PWM.h"
#include "timer.h"
#include "PID.h"
#include "stm32f10x_tim.h"
#include "24l01.h"
extern float Pitch1,Pitch_last,out1,out2,c4,Gyro_Y,Yaw;
extern int Encoder_Right,Encoder_Left;
extern short aay;
float speed;
u8 tmp_buf[8];
int main(void)
{
delay_init(); //延时函数初始化
NVIC_Configuration(); //设置NVIC中断分组2:2位抢占优先级,2位响应优先级
uart_init(9600); //串口初始化为9600
MPU6050_initialize();
IIC_Init();
DMP_Init();
OLED_Init();
pwm_Init();
OLED_Refresh_Gram();
time1_Init();
PID_init();
//NRF24L01_Init();
//NRF24L01_RX_Mode();
while(1)
{
xianshi();
printf("gyro[1]=%f\r\n",Yaw);
}
}
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