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標(biāo)題: STM32 pwm調(diào)速小車代碼看附件 [打印本頁]

作者: 2479408246 時間: 2019-5-4 14:24
標(biāo)題: STM32 pwm調(diào)速小車代碼看附件
/************************************************************************
               STM32  pwm調(diào)速小車

PB5,PB6 接直流電機驅(qū)動器IN1 IN2，用于小車前進后退及調(diào)速
PB7,PB8 接直流電機驅(qū)動器IN3 IN4，用于小車轉(zhuǎn)向，為加入轉(zhuǎn)向速度調(diào)節(jié)
PA0(高電平有效)接無線輸入D0引腳小車前進
PA1(高電平有效)接無線輸入D1引腳小車后進
PA2(高電平有效)接無線輸入D2引腳小車左轉(zhuǎn)進
PA3(高電平有效)接無線輸入D3引腳小車右轉(zhuǎn)進
PA4(高電平有效)接按鈕開關(guān) 用于小車調(diào)速

************************************************************************/
#include "stm32f10x.h"
#include "smartcar.h"
#include "usart_2.h"
#include "pwm.h"
#include "delay.h"
#include "KEY.h"
int main(void)
{
u16 numval= 1;
//u16 numval3=0;
u16 numval4=1;

u16 pwmval= 0;
u16 pwmval4=0;
vu8 key=0;

smartcar_Init();//智能小車GPIO初始化
TIM3_PWM_Init(899,0);    //不分頻。PWM頻率=72000000/900=80Khz
TIM4_PWM_Init(899,0);    //不分頻。PWM頻率=72000000/900=80Khz
delay_init();            //延時函數(shù)初始化
KEY_Init();       //初始化與按鍵連接的硬件接口


while(1)
{

   key=KEY_Scan(0); //得到鍵值
   if(key)
{
switch(key)
{
   case KEYA_PRES://前進

switch(numval)
{
case 1: pwmval=350; pwmval4=0;break;
case 2: pwmval=450; pwmval4=0;break;
case 3: pwmval=550; pwmval4=0;break;
case 4: pwmval=650; pwmval4=0;break;
case 5: pwmval=750; pwmval4=0;break;
case 6: pwmval=899; pwmval4=0;break;
}
INA3_0; INA4_0;
      TIM_SetCompare2(TIM3,pwmval); //pwm輸出函數(shù)
         TIM_SetCompare1(TIM4,pwmval4);
break;
case KEYB_PRES://后退

switch(numval4)
{
case 1: pwmval4=350;pwmval=0;break;
case 2: pwmval4=450;pwmval=0;break;
case 3: pwmval4=550;pwmval=0;break;
case 4: pwmval4=650;pwmval=0;break;
case 5: pwmval4=750;pwmval=0;break;
case 6: pwmval4=899;pwmval=0;break;
}
      INA3_0; INA4_0;
      TIM_SetCompare2(TIM3,pwmval); //pwm輸出函數(shù)
         TIM_SetCompare1(TIM4,pwmval4);
break;
case KEYC_PRES: //左轉(zhuǎn)

      INA3_1
   INA4_0
TIM_SetCompare2(TIM3,pwmval); //pwm輸出函數(shù)
TIM_SetCompare1(TIM4,pwmval4);
break;
case KEYD_PRES: //右轉(zhuǎn)

      INA4_1
   INA3_0
   TIM_SetCompare2(TIM3,pwmval); //pwm輸出函數(shù)
         TIM_SetCompare1(TIM4,pwmval4);
break;
case KEYE_PRES://調(diào)速
   numval++;
      numval4++;
if(numval>6) numval=1; //值不能設(shè)為0，否則高速無法換向
if(numval4>6) numval4=1;
break;
case KEYF_PRES://停止
pwmval =0;
      pwmval4=0;
   INA4_0
   INA3_0
   break;
}
   }
   if(KEYA==0&&KEYB==0&&KEYC==0&&KEYD==0&&KEYE==0&&KEYF==0)
   {
   TIM_SetCompare2(TIM3,0); //pwm輸出函數(shù)
      TIM_SetCompare1(TIM4,0);
   INA4_0;  INA3_0;
   }

}
}

QQ截圖20190504141503.png (89.94 KB, 下載次數(shù): 55)

QQ截圖20190504141529.png (100.41 KB, 下載次數(shù): 56)

Smart car 四建遙控- pwm.zip

311.15 KB, 下載次數(shù): 35, 下載積分: 黑幣 -5

完整代碼

作者: PO999999 時間: 2019-5-5 09:42
學(xué)習(xí)一下

作者: 2479408246 時間: 2019-5-10 11:55
在硬件上已測試，兩個電機接在一個輸出端上。供電沒有問題

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