STM32mini板編碼器源程序

ID:894969 · 發(fā)表于 2021-8-11 09:27

編碼器計(jì)數(shù)主要是對(duì)單片機(jī)的定時(shí)器經(jīng)行配置，然后是讀取得到的值對(duì)其進(jìn)行轉(zhuǎn)換為速度等

#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "encoder.h"
#include "timer.h"
#include "pwm.h"
#include "motor.h"
#include "led.h"
#include "key.h"
int Encoder_Left=0 ,Encoder_Right=0; //左右編碼器的脈沖計(jì)數(shù)
float speed_Left=0 ,speed_Right=0;
int main(void)
{
delay_init(); //延時(shí)函數(shù)初始化
uart_init(9600); //串口初始化為9600
Encoder_Init_TIM3();
Encoder_Init_TIM4();
AIN_Init();
KEY_Init();
LED_Init();
TIM1_PWM_Init(899,8);
TIM5_Int_Init(99,7199); // 0.01S (（arr+1）（psc+1）)/72000000
while(1)
{
TIM_SetCompare1(TIM1,850);
TIM_SetCompare4(TIM1,500);
zuozhuan();
/* 轉(zhuǎn)速(1秒鐘轉(zhuǎn)多少圈)=單位時(shí)間內(nèi)的計(jì)數(shù)值/總分辨率*時(shí)間系數(shù) */
speed_Left=Encoder_Left/0.01*0.000181245;
speed_Right=Encoder_Right/0.01*0.000181245;
printf("左輪編碼器脈沖數(shù)為： %d\r\n",Encoder_Left);
printf("右輪編碼器脈沖數(shù)為： %d\r\n",Encoder_Right);
printf("speed_Left： %f\r\n",speed_Left);
printf("speed_Right: %f\r\n",speed_Right);
}
}