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#include "motor.h"
#include "interface.h"
#include "stm32f10x.h"
//GPIO配置函數(shù)
void MotorGPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = FRONT_LEFT_F_PIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(FRONT_LEFT_F_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = FRONT_LEFT_B_PIN;
GPIO_Init(FRONT_LEFT_B_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = FRONT_RIGHT_F_PIN;
GPIO_Init(FRONT_RIGHT_F_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = FRONT_RIGHT_B_PIN;
GPIO_Init(FRONT_RIGHT_B_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = BEHIND_LEFT_F_PIN;
GPIO_Init(BEHIND_LEFT_F_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = BEHIND_LEFT_B_PIN;
GPIO_Init(BEHIND_LEFT_B_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = BEHIND_RIGHT_F_PIN;
GPIO_Init(BEHIND_RIGHT_F_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = BEHIND_RIGHT_B_PIN;
GPIO_Init(BEHIND_RIGHT_B_GPIO, &GPIO_InitStructure);
}
//根據(jù)占空比驅(qū)動電機轉(zhuǎn)動
void CarMove(void)
{
BEHIND_RIGHT_EN;
/* //左前輪
if(front_left_speed_duty > 0)//向前
{
if(speed_count < front_left_speed_duty)
{
FRONT_LEFT_GO;
}else
{
FRONT_LEFT_STOP;
}
}
else if(front_left_speed_duty < 0)//向后
{
if(speed_count < (-1)*front_left_speed_duty)
{
FRONT_LEFT_BACK;
}else
{
FRONT_LEFT_STOP;
}
}
else //停止
{
FRONT_LEFT_STOP;
}*/
//右前輪
if(front_right_speed_duty > 0)//向前
{
if(speed_count < front_right_speed_duty)
{
FRONT_RIGHT_GO;
}else //停止
{
FRONT_RIGHT_STOP;
}
}
else if(front_right_speed_duty < 0)//向后
{
if(speed_count < (-1)*front_right_speed_duty)
{
FRONT_RIGHT_BACK;
}else //停止
{
FRONT_RIGHT_STOP;
}
}
else //停止
{
FRONT_RIGHT_STOP;
}
//左后輪
if(behind_left_speed_duty > 0)//向前
{
if(speed_count < behind_left_speed_duty)
{
BEHIND_LEFT_GO;
} else //停止
{
BEHIND_LEFT_STOP;
}
}
else if(behind_left_speed_duty < 0)//向后
{
if(speed_count < (-1)*behind_left_speed_duty)
{
BEHIND_LEFT_BACK;
} else //停止
{
BEHIND_LEFT_STOP;
}
}
else //停止
{
BEHIND_LEFT_STOP;
}
/* //右后輪
if(behind_right_speed_duty > 0)//向前
{
if(speed_count < behind_right_speed_duty)
{
BEHIND_RIGHT_GO;
} else //停止
{
BEHIND_RIGHT_STOP;
}
}
else if(behind_right_speed_duty < 0)//向后
{
if(speed_count < (-1)*behind_right_speed_duty)
{
BEHIND_RIGHT_BACK;
} else //停止
{
BEHIND_RIGHT_STOP;
}
}
else //停止
{
BEHIND_RIGHT_STOP;
}*/
}
//向前
void CarGo(void)
{
front_left_speed_duty=SPEED_DUTY;
front_right_speed_duty=SPEED_DUTY;
behind_left_speed_duty=SPEED_DUTY;
behind_right_speed_duty=SPEED_DUTY;
}
//后退
void CarBack(void)
{
front_left_speed_duty=-SPEED_DUTY;
front_right_speed_duty=-SPEED_DUTY;
behind_left_speed_duty=-SPEED_DUTY;
behind_right_speed_duty=-SPEED_DUTY;
}
//向左
void CarLeft(void)
{
front_left_speed_duty=SPEED_DUTY;
front_right_speed_duty=-SPEED_DUTY;
behind_left_speed_duty=SPEED_DUTY;//+10;//增加后輪驅(qū)動力
behind_right_speed_duty=-SPEED_DUTY;
}
//向右
void CarRight(void)
{
front_left_speed_duty=-SPEED_DUTY;
front_right_speed_duty=SPEED_DUTY;
behind_left_speed_duty=-SPEED_DUTY;
behind_right_speed_duty=SPEED_DUTY;//+10;//增加后輪驅(qū)動力
}
//停止
void CarStop(void)
{
front_left_speed_duty=0;
front_right_speed_duty=0;
behind_left_speed_duty=0;
behind_right_speed_duty=0;
}
void MotorInit(void)
{
MotorGPIO_Configuration();
CarStop();
}

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