STM32黑线循迹智能小车的代码 -

#include "motor.h"
#include "Math.h"
#include "delay.h"
#include "stm32f10x.h" // Device header
signed short sPWMR,sPWML,dPWM;
//GPIO配置函数
/*void MotorGPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB, ENABLE); //使能PA,PB端口时钟
GPIO_InitStructure.GPIO_Pin = LEFT_MOTOR_GO; //左电机方向控制
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() //前进
{
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); //使能GPIO外设时钟使能
GPIO_InitStructure.GPIO_Pin = LEFT_MOTOR_GO; //左电机方向控制 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; //左电机PWM控制 PB8
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_Init(LEFT_MOTOR_PWM_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = RIGHT_MOTOR_GO; //右电机方向控制 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; //右电机PWM控制 PB9
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_Init(RIGHT_MOTOR_PWM_GPIO, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Period = arr; //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 80K
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值不分频
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
TIM_OC3Init(TIM4, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_OC4Init(TIM4, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_CtrlPWMOutputs(TIM4,ENABLE); //MOE 主输出使能
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable); //CH1预装载使能
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable); //CH1预装载使能
TIM_ARRPreloadConfig(TIM4, ENABLE); //使能TIMx在ARR上的预装载寄存器
TIM_Cmd(TIM4, ENABLE); //使能TIM1
}
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://右轮
TIM_SetCompare3(TIM4,sPWM);
if (cSpeed>0)
RIGHT_MOTOR_GO_RESET;
else if(cSpeed<0)
RIGHT_MOTOR_GO_SET;
break;
case 1://左轮
TIM_SetCompare4(TIM4,sPWM);
if (cSpeed>0)
LEFT_MOTOR_GO_SET;
else if (cSpeed<0)
LEFT_MOTOR_GO_RESET;
break;
}
}
//----------------------------------运动函数--------------------------------
void ZYSTM32_run(signed char speed,int time) //前进函数
{
signed char f_speed = - speed;
SetMotorSpeed(1,f_speed);//左轮 //为负数
SetMotorSpeed(0,speed);//右轮 //为正数
delay_ms(time); //时间为毫秒
}
void ZYSTM32_brake(int time) //刹车函数
{
SetMotorSpeed(1,0);//左轮 //为0
SetMotorSpeed(0,0);//右轮 //为0
RIGHT_MOTOR_GO_RESET;
LEFT_MOTOR_GO_RESET;
delay_ms(time); //时间为毫秒
}
void ZYSTM32_Left(signed char speed,int time) //左转函数
{
SetMotorSpeed(1,0);//左轮 //左轮不动
SetMotorSpeed(0,speed); //右轮为正
delay_ms(time); //时间为毫秒
}
void ZYSTM32_Spin_Left(signed char speed,int time) //左旋转函数
{
SetMotorSpeed(1,speed);//左轮 //左轮为正
SetMotorSpeed(0,speed); //右轮为正
delay_ms(time); //时间为毫秒
}
void ZYSTM32_Right(signed char speed,int time) //右转函数
{
signed char f_speed = - speed;
SetMotorSpeed(1,f_speed);//左轮 //左轮为负
SetMotorSpeed(0,0); //右轮为0
delay_ms(time); //时间为毫秒
}
void ZYSTM32_Spin_Right(signed char speed,int time) //右旋转函数
{
signed char f_speed = - speed;
SetMotorSpeed(1,f_speed);//左轮 //左轮为负
SetMotorSpeed(0,f_speed); //右轮为负
delay_ms(time); //时间为毫秒
}
void ZYSTM32_back(signed char speed,int time) //后退函数
{
signed char f_speed = - speed;
SetMotorSpeed(1,speed);//左轮 //为正数
SetMotorSpeed(0,f_speed);//右轮 //为负数
delay_ms(time); //时间为毫秒
}

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