2輪平衡小車stm32源碼

ID:86974 · 發表于 2018-5-13 14:39

我自己做過的，可以用單片機源程序如下:

#include"stm32f10x.h"
#include"delay.h"
#include"usart.h"
#include"sys.h"
#include"encoder.h"
#include"pwm.h"
#include"mpu6050.h"
#include"inv_mpu.h"
#include"usart2.h"
#include"oled.h"
#include"ascii.h"
#include"pid.h"
int main()
{
u8 oled_flag=0;//oled相關
u8 temp;
delay_init();
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
uart_init(115200);//usart
Usart2_Init(9600);
ENCODER_Init();
I2C2_Init();//oled
Pwm_Init(7200,0);//moter
MPU_Init();
while(mpu_dmp_init());
A8_Motor_STNBY();
TIM1_Int(5000,71);
OLED_Init();
OLED_Clear();
OLED_ShowHanZi(0,0,1);
OLED_ShowHanZi(16,0,2);
OLED_ShowChar(32,0,':',16);
OLED_ShowChar(56,0,'%',16);
OLED_ShowHanZi(64,0,1);
OLED_ShowHanZi(80,0,2);
OLED_ShowChar(96,0,':',16);
OLED_ShowChar(120,0,'%',16);
OLED_ShowString(0,2,"ROLL:",16);
OLED_ShowString(0,6,"L:",16);
OLED_ShowString(64,6,"R:",16);
OLED_ShowString(0,4,"H:",16);
OLED_ShowString(64,4,"us",16);
OLED_ShowChar(88,4,'G',16);
OLED_ShowString(88,2,"SMD:",16);
while(1)
{
Decide();
if(oled_flag%5==0)//防止OLED占用過長時間
{
OLED_ShowChar(96,4,sr04_gate_val/1000%10+'0',16);
OLED_ShowChar(104,4,sr04_gate_val/100%10+'0',16);
OLED_ShowChar(112,4,sr04_gate_val/10%10+'0',16);
OLED_ShowChar(120,4,sr04_gate_val%10+'0',16);
if(Motor_A>=0)
{
if(Motor_A>7199)Motor_A=7199;
OLED_ShowChar(104,0,(u32)Motor_A*100/7200/10%10+'0',16);//電機a和b的pwm顯示
OLED_ShowChar(112,0,(u32)Motor_A*100/7200%10+'0',16);
}else
{
if(Motor_A<-7199)Motor_A=-7199;
OLED_ShowChar(104,0,(u32)(-Motor_A)*100/7200/10%10+'0',16);//電機a和b的pwm顯示
OLED_ShowChar(112,0,(u32)(-Motor_A)*100/7200%10+'0',16);
}
if(Motor_B>=0)
{
if(Motor_B>7199)Motor_B=7199;
OLED_ShowChar(40,0,(u32)Motor_B*100/7200/10%10+'0',16);
OLED_ShowChar(48,0,(u32)Motor_B*100/7200%10+'0',16);
}else
{
if(Motor_B<-7199)Motor_B=-7199;
OLED_ShowChar(40,0,(u32)(-Motor_B)*100/7200/10%10+'0',16);
OLED_ShowChar(48,0,(u32)(-Motor_B)*100/7200%10+'0',16);
}
if(roll<0)
{
OLED_ShowChar(40,2,'-',16);
temp=-roll; //盡量不要修改roll值，會對pwm造成影響
}
else
{
temp=roll;
OLED_ShowChar(40,2,'+',16);
}
OLED_ShowChar(48,2,(u8)temp/10+'0',16);
OLED_ShowChar(56,2,(u8)temp%10+'0',16);
OLED_ShowHanZi(64,2,3);
if(Encode_left<0)
{
OLED_ShowChar(16,6,'-',16);
OLED_ShowChar(24,6,(-Encode_left)/100%10+'0',16);
OLED_ShowChar(32,6,(-Encode_left)/10%10+'0',16);
OLED_ShowChar(40,6,(-Encode_left)%10+'0',16);
}else
{
OLED_ShowChar(16,6,'+',16);
OLED_ShowChar(24,6,(Encode_left)/100%10+'0',16);
OLED_ShowChar(32,6,(Encode_left)/10%10+'0',16);
OLED_ShowChar(40,6,(Encode_left)%10+'0',16);
}
if(Encode_right<0)
{
OLED_ShowChar(80,6,'-',16);
OLED_ShowChar(88,6,(-Encode_right)/100%10+'0',16);
OLED_ShowChar(96,6,(-Encode_right)/10%10+'0',16);
OLED_ShowChar(104,6,(-Encode_right)%10+'0',16);
}else
{
OLED_ShowChar(80,6,'+',16);
OLED_ShowChar(88,6,(Encode_right)/100%10+'0',16);
OLED_ShowChar(96,6,(Encode_right)/10%10+'0',16);
OLED_ShowChar(104,6,(Encode_right)%10+'0',16);
}
if(oled_flag==5)oled_flag=0;
}
oled_flag++;
}
}

復制代碼

所有資料51hei提供下載:

平衡小車工程.rar (362.65 KB, 下載次數: 10)

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2輪平衡小車stm32源碼