到了大学最好玩的就是小车了 最近为了广东物理 入手一波新小车
哈哈哈哈 它好快呀 我好喜欢
先看看我们驱动的参数 一般情况下驱动电流决定了小车的速度 驱动17A 完全碾压L298N 这里推荐新手如果不是缺钱的话 最好买一个好点车模 和驱动
然后我们看他的操作引脚
VM GND M+ M- 这个没什么好说的 DIR控制方向 SLP控制开关 PWM控制速度 而FLP CS 作为检测 可以用读取IO口作为FLP的状态读取 就和按键差不多 用ADC采集样本
首先我们分配引脚
然后我们根据我们要写的功能写一个基本控制的初始化
#include "motor_control.h" #include "led.h" uint16_t PrescalerValue = 0; //20ms void Montor_Init(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; GPIO_InitTypeDef GPIO_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); /* GPIOA and GPIOB clock enable */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOC, ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_5)==0)LED_warning(); //ELT ¶ÁÈ¡¹ÊÕÏ PB5 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB ,&GPIO_InitStructure); GPIO_ResetBits(GPIOB,GPIO_Pin_7); //PB7 CS µçѹ²âËÙ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_SetBits(GPIOB,GPIO_Pin_3); //PB3 SLP ¸ßµçƽ´ò¿ª GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOC, &GPIO_InitStructure); GPIO_SetBits(GPIOC,GPIO_Pin_10); //PC10 DIR ¸ßµçƽ´ÓÕýµ½¸ºÊý /* System Clocks Configuration */ /* TIM3 clock enable */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); /* GPIOA and GPIOB clock enable */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); /* GPIOA and GPIOB clock enable */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE); /* GPIO Configuration */ /*GPIOB Configuration: TIM3 channel1, 2, 3 and 4 */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); }然后再编写一下PWM模块 PWM有两组 一组是舵机控制 采用的20ms 周期 一种是电机控制 他们推荐我们使用的20KHZ 代码如下
#include "mypwm.h" uint16_t DUOJI =62;//0-125 uint16_t TIAOSU =62; void TIM3_PWM_Init(void) { uint16_t PrescalerValue = 0; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; GPIO_InitTypeDef GPIO_InitStructure; /* System Clocks Configuration */ /* TIM3 clock enable */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); /* GPIOA and GPIOB clock enable */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE); /* GPIO Configuration */ /*GPIOB Configuration: TIM3 channel1, 2, 3 and 4 */ \ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); /* ----------------------------------------------------------------------- TIM3 Configuration: generate 4 PWM signals with 4 different duty cycles: The TIM3CLK frequency is set to SystemCoreClock (Hz), to get TIM3 counter clock at 24 MHz the Prescaler is computed as following: - Prescaler = (TIM3CLK / TIM3 counter clock) - 1 SystemCoreClock is set to 72 MHz for Low-density, Medium-density, High-density and Connectivity line devices and to 24 MHz for Low-Density Value line and Medium-Density Value line devices The TIM3 is running at 36 KHz: TIM3 Frequency = TIM3 counter clock/(ARR + 1) = 24 MHz / 666 = 36 KHz TIM3 Channel1 duty cycle = (TIM3_CCR1/ TIM3_ARR)* 100 = 50% TIM3 Channel2 duty cycle = (TIM3_CCR2/ TIM3_ARR)* 100 = 37.5% TIM3 Channel3 duty cycle = (TIM3_CCR3/ TIM3_ARR)* 100 = 25% TIM3 Channel4 duty cycle = (TIM3_CCR4/ TIM3_ARR)* 100 = 12.5% ----------------------------------------------------------------------- */ /* Compute the prescaler value */ PrescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1; /* Time base configuration */ TIM_TimeBaseStructure.TIM_Period = 125; TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue; TIM_TimeBaseStructure.TIM_ClockDivision = 0; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); /* PWM1 Mode configuration: Channel1 */ TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_Pulse = TIAOSU; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OC2Init(TIM3, &TIM_OCInitStructure); TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); TIM_ARRPreloadConfig(TIM3, ENABLE); /* TIM3 enable counter */ TIM_Cmd(TIM3, ENABLE); } void TIM2_PWM_Init(void) { uint16_t PrescalerValue = 0; uint16_t CCR1_Val = 400; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; GPIO_InitTypeDef GPIO_InitStructure; /* System Clocks Configuration */ /* TIM3 clock enable */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); /* GPIOA and GPIOB clock enable */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE); /* GPIO Configuration */ /*GPIOB Configuration: TIM3 channel1, 2, 3 and 4 */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); /* ----------------------------------------------------------------------- TIM3 Configuration: generate 4 PWM signals with 4 different duty cycles: The TIM3CLK frequency is set to SystemCoreClock (Hz), to get TIM3 counter clock at 24 MHz the Prescaler is computed as following: - Prescaler = (TIM3CLK / TIM3 counter clock) - 1 SystemCoreClock is set to 72 MHz for Low-density, Medium-density, High-density and Connectivity line devices and to 24 MHz for Low-Density Value line and Medium-Density Value line devices The TIM3 is running at 36 KHz: TIM3 Frequency = TIM3 counter clock/(ARR + 1) = 24 MHz / 666 = 36 KHz TIM3 Channel1 duty cycle = (TIM3_CCR1/ TIM3_ARR)* 100 = 50% TIM3 Channel2 duty cycle = (TIM3_CCR2/ TIM3_ARR)* 100 = 37.5% TIM3 Channel3 duty cycle = (TIM3_CCR3/ TIM3_ARR)* 100 = 25% TIM3 Channel4 duty cycle = (TIM3_CCR4/ TIM3_ARR)* 100 = 12.5% ----------------------------------------------------------------------- */ /* Compute the prescaler value */ PrescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1; /* Time base configuration */ TIM_TimeBaseStructure.TIM_Period = 125; TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue; TIM_TimeBaseStructure.TIM_ClockDivision = 0; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); /* PWM1 Mode configuration: Channel1 */ TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_Pulse = DUOJI ; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OC2Init(TIM2, &TIM_OCInitStructure); TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable); TIM_ARRPreloadConfig(TIM2, ENABLE); /* TIM3 enable counter */ TIM_Cmd(TIM2, ENABLE); }