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stm32mini想实现蓝牙与按键部分同时控制舵机的转动
现在单独使用蓝牙控制舵机或者单独使用按键模块的转动都是正常运转的，但当把按键模块的代码与蓝牙模块的代码相结合时，舵机乱转，或者压根就不转。不知是哪里出现了问题呢？请各位大神帮忙解决一下这个疑惑，非常感激。
图1 蓝牙单独控制舵机的主程序部分#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "timer.h"
extern u8 res;
int main(void)
{
int len;
int t;
int i;
delay_init(); //延时函数初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
uart_init(115200); //串口初始化为115200
My_USART2_Init();
TIM1_PWM_Init(199,7199); //不分频。T为20ms，这样的配置就是为了让输出的PWM信号达到舵机要求的20ms周期。
while(1)
{
if(res=='1'){TIM_SetCompare2(TIM3,175);delay_ms(1000);}
if(res=='2'){TIM_SetCompare2(TIM3,180);delay_ms(1000);}
if(res=='3'){TIM_SetCompare2(TIM3,185);delay_ms(1000);}
if(res=='4'){TIM_SetCompare2(TIM3,190);delay_ms(1000);}
if(res=='5'){TIM_SetCompare2(TIM3,195);delay_ms(1000);}
if(res=='A'){TIM_SetCompare3(TIM3,175);delay_ms(1000);}
if(res=='B'){TIM_SetCompare3(TIM3,180);delay_ms(1000);}
if(res=='C'){TIM_SetCompare3(TIM3,185);delay_ms(1000);}
if(res=='D'){TIM_SetCompare3(TIM3,190);delay_ms(1000);}
if(res=='E'){TIM_SetCompare3(TIM3,195);delay_ms(1000);}
}
}
图2 单片机的按键模块单独控制两个舵机转动的主程序部分
#include "delay.h"
#include "sys.h"
#include "pwm.h"
#include "usart.h"
#include "stm32f10x.h"
#include "key.h"
#define key1 PCin(5) //KEY1按键
#define key2 PAin(15) //KEY0按键
#define key3 PAin(0) //wk_up按键
u16 cout;
u16 couts;
int main(void)
{
cout=50;
couts=50;
KEY_Init();
delay_init();
TIM3_PWM_Init(1999,719);
while(1)
{
if(key3==0&&key1==0) //key1??,????????
{
if(key1==0)
{
delay_ms(5);
cout+=5; } }
else if(key3==1&&key1==0) //key1?key3????,??????
{
delay_ms(5);
cout-=5; }
if(key3==0&&key2==0) //key2??,????????
{
delay_ms(5);
couts+=5;}
else if(key3==1&&key2==0) //key2?key3????,??????
{
delay_ms(5);
couts-=5;
}
TIM_SetCompare2(TIM3,cout); //PWM??
TIM_SetCompare3(TIM3,couts);
delay_ms(50);
}
}
图3、4 按键部分与蓝牙部分相结合（无法实现）
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "timer.h"
#define key1 PCin(5)
#define key2 PAin(15)
#define key3 PAin(0)
extern u8 res;
int main(void)
{
u16 cout=50;
u16 couts=50;
KEY_Init();
delay_init();
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
uart_init(115200);
My_USART2_Init();
TIM1_PWM_Init(199,7199);
while(1)
{
if(key3==0&&key1==0) //key1??,????????
{ if(key1==0)
{ delay_ms(5);
cout+=5; } }
else if(key3==1&&key1==0) //key1?key3????,??????
{ delay_ms(5);
cout-=5; }
if(key3==0&&key2==0) //key2??,????????
{ delay_ms(5);
couts+=5;}
else if(key3==1&&key2==0) //key2?key3????,??????
{
delay_ms(5);
couts-=5; }
TIM_SetCompare2(TIM3,cout); //PWM??
TIM_SetCompare3(TIM3,couts);
delay_ms(50);
}
}
