STM32简陋舵机云台控制系统制作附源程序 -

#include "stm32f10x.h"
#include "delay.h"
#include "usart.h"
#include "ioi2c.h"
#include "MPU6050.h"
#include "pwm_output.h"
#include "oled.h"
int main(void)
{
float Pitch,Roll,Yaw;
delay_init();
IIC_Init();
NVIC_Configuration();
uart_init(9600); //串口显示
DMP_Init(); //DMP初始化
TIM_Init(); //定时器初始化
delay_ms(8000);
OLED_Init(); //OLED初始化
OLED_Clear();
delay_ms(10000);
OLED_Clear(); //OLED清屏
//界面显示
OLED_ShowCHinese(16,0,1);
OLED_ShowCHinese(30,0,2);
OLED_ShowCHinese(44,0,3);
OLED_ShowCHinese(58,0,4);
OLED_ShowCHinese(72,0,5);
OLED_ShowCHinese(86,0,6);
OLED_ShowCHinese(100,0,7);
OLED_ShowChar(0,3,'X',13);
OLED_ShowChar(0,5,'Y',13);
OLED_ShowChar(0,7,'Z',13);
OLED_ShowChar(14,3,':',13);
OLED_ShowChar(14,5,':',13);
OLED_ShowChar(14,7,':',13);
OLED_ShowChar(56,3,'.',13);
OLED_ShowChar(56,5,'.',13);
OLED_ShowChar(56,7,'.',13);
//不断读取MPU6050数据
while(1)
{
MPU_DMP_GET_DATA(&Pitch,&Roll,&Yaw); //获取角度值
if(Pitch<0)
{
OLED_ShowChar(28,3,'-',13);
Pitch=-Pitch;
OLED_ShowNum(36,3,(int)Pitch,3,13); //x轴
OLED_ShowNum(62,3,(int)(Pitch*10)%10,1,13);
TIM_SetCompare1(TIM3,180+Pitch);
}
else
{
OLED_ShowChar(28,3,' ',13);
OLED_ShowNum(36,3,Pitch,3,13);
OLED_ShowNum(62,3,(int)(Pitch*10)%10,1,13);
TIM_SetCompare1(TIM3,180-Pitch);
}
if(Roll<0)
{
OLED_ShowChar(28,5,'-',13);
Roll=-Roll;
OLED_ShowNum(36,5,(int)Roll,3,13); //y轴
OLED_ShowNum(62,5,(int)(Roll*10)%10,1,13);
}
else
{
OLED_ShowChar(28,5,' ',13);
OLED_ShowNum(36,5,(int)Roll,3,13);
OLED_ShowNum(62,5,(int)(Roll*10)%10,1,13);
}
if(Yaw<0)
{
OLED_ShowChar(28,7,'-',13);
Yaw=-Yaw;
OLED_ShowNum(36,7,(int)Yaw,3,13); //z轴
OLED_ShowNum(62,7,(int)(Yaw*10)%10,1,13);
TIM_SetCompare4(TIM3,180+Yaw);
}
else
{
OLED_ShowChar(28,7,' ',13);
OLED_ShowNum(36,7,(int)Yaw,3,13);
OLED_ShowNum(62,7,(int)(Yaw*10)%10,1,13);
TIM_SetCompare4(TIM3,180-Yaw);
}
}
}

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