有错误 STM32单片机双电机团环跟随控制程序,使用500线编码器 -

#include "main.h"
#include "pwm.h"
#include "SDS.h"
#include "DataScope_DP.h"
u32 SET_SPEED=300;
u8 Key=0;
Pid_struct Main_pid_parameter,Slave_pid_parameter;
int main(void)
{
unsigned char i; //计数变量
unsigned char Send_Count; //串口需要发送的数据个数
/********中断优先级设置********/
Rcc_init();
NVIC_Config();
delay_init();
PWM_Init(3999,0); //0分频。PWM频率=72000/(4000*1)=14Khz
USART1_Config();
KEY_Init();
TIM1_init();
TIM2_init(); // TIM1/2 编码器
TIM4_Init(4999,71); // 5ms 编码器计时
Speed_PIDInit(&Main_pid_parameter); //PID初始化
Speed_PIDInit(&Slave_pid_parameter);
while(1){
// Send_Count = DataScope_Data_Generate(3); //生成10个通道的格式化帧数据，返回帧数据长度
// for( i = 0 ; i < Send_Count; i++) //循环发送,直到发送完毕
// {
// while((USART1->SR&0X40)==0);
// USART1->DR = DataScope_OutPut_Buffer[i]; //从串口丢一个字节数据出去
// }
//
// delay_ms(5); //20fps, 帧间隔时间。不同电脑配置及 USB-TTL 设备的优劣均会影响此时间的长短，建议实测为准。
} }
void NVIC_Config(void)
{
NVIC_InitTypeDef NVIC_InitStructure; //复位NVIC寄存器为默认值
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置中断优先级组
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; // 10ms 中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0 ;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority =0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority =2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}

复制代码