//PB4 LEFT PC4
//PB5 RIGHT PC5
//PB0 FORTH PC0
//PB1 BACK PC1
单片机源程序如下:
- #include "sys.h"
- #include "l298n.h"
- #include "usart.h"
- void l298n_TIM3_PWM_init(u16 arr,u16 psc)
- //使用TIM3输出四路pwm波
- {
- GPIO_InitTypeDef GPIO_InitStructure;//定义结构体
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;//定义初始化结构体
- TIM_OCInitTypeDef TIM_OCInitStructure;//定义结构体
-
- RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能定时器3时钟
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);//使能GPIO外设和AFIO复用功能模块时钟
- GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE); //选择Timer3完全重映像
- GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);//禁用JTAG
-
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9; //使用TIM3下的TIM_CH1/TIM_CH2/TIM_CH3/TIM_CH4
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽功能
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
-
- GPIO_Init(GPIOC, &GPIO_InitStructure);//初始化引脚
-
-
- //初始化TIM3
- TIM_TimeBaseStructure.TIM_Period = arr; //自动重装载寄存器的值
- TIM_TimeBaseStructure.TIM_Prescaler =psc; //TIMX预分频的值
- TIM_TimeBaseStructure.TIM_ClockDivision = 0; //时钟分割
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数
-
- TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据以上功能对定时器进行初始化
-
-
- 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_OCPolarity = TIM_OCPolarity_High;//输出比较极性低
-
-
- TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
- TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
- TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
- TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
- //使能预装载寄存器
-
- TIM_OC1Init(TIM3, &TIM_OCInitStructure);
- TIM_OC2Init(TIM3, &TIM_OCInitStructure);
- TIM_OC3Init(TIM3, &TIM_OCInitStructure);
- TIM_OC4Init(TIM3, &TIM_OCInitStructure);
- //根据结构体信息进行初始化
-
- TIM_Cmd(TIM3, ENABLE); //使能定时器TIM3
- }
- #include "stdio.h"
- #include "sys.h"
- #include "motor_pid.h"
- #define PITCH 0
- #define YAW 0
- #define ROW 0
- //定义结构体变量
- PIDTypeDef mypid;
- void PID_init()//结构体初始化
- {
- //实际值
- mypid.ActualPitch = 0;
- mypid.ActualRow = 0;
- mypid.ActualYaw = 0;
-
- //设定值
- mypid.SetPitch = 0;
- mypid.SetRow = 0;
- mypid.SetYaw = 0;
-
- //偏差
- mypid.err_pitch = 0;
- mypid.err_row = 0;
- mypid.err_yaw = 0;
-
- //最近偏差
- mypid.err_last_pitch = 0;
- mypid.err_last_row = 0;
- mypid.err_last_yaw = 0;
-
- //历史偏差
- mypid.integral_pitch = 0;
- mypid.integral_row = 0;
- mypid.integral_yaw = 0;
-
- //比例 微分 积分
- mypid.Kp_left = 0;
- mypid.Ki_left = 0;
- mypid.Kd_left = 0;
-
- mypid.Kp_right = 0;
- mypid.Ki_right = 0;
- mypid.Kd_right = 0;
-
- mypid.Kp_forth = 0;
- mypid.Ki_forth = 0;
- mypid.Kd_forth = 0;
-
- mypid.Kp_back;
- }
- void PID_6050(int pitch,int yaw,int row)
- //pitch 俯仰角
- //yaw 偏航角
- //row 翻滚角
- {
- mypid.SetPitch = PITCH;
- mypid.SetRow = ROW;
- mypid.SetYaw = YAW;
-
- mypid.ActualPitch = pitch;
- mypid.ActualRow = row;
- mypid.ActualYaw = yaw;
-
- mypid.err_pitch = mypid.SetPitch - mypid.ActualPitch;
- mypid.err_row = mypid.SetRow - mypid.ActualRow;
- mypid.err_yaw = mypid.SetYaw - mypid.ActualYaw;
-
- mypid.integral_pitch += mypid.integral_pitch;
- mypid.integral_row += mypid.integral_row;
- mypid.integral_yaw += mypid.integral_yaw;
-
- mypid.inLeft =
- mypid.inRight =
- mypid.inForth =
- mypid.inBack =
-
- pi
- }
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