基于STM32的PS2遙控手柄，平衡車程序源碼

ID:367409 · 發表于 2018-7-8 19:18

基于STM32的PS2遙控手柄，平衡車程序源碼

單片機源程序如下:

/******************** (C) COPYRIGHT (2015)BST BALANCECAR **************************
* 文件名：main.c
**********************************************************************************/
//#include "stm32f10x.h"
#include "mpu6050.h"
#include "i2c_mpu6050.h"
#include "motor.h"
#include "upstandingcar.h"
#include "SysTick.h"
#include "led.h"
#include "usart.h"
#include "i2c.h"
//#include "outputdata.h"
#include "timer.h"
#include "UltrasonicWave.h"
//#include "stm32f10x_usart.h"
#include "ps2.h"
#include "delay.h"
float gyz;
int acc;
int acc1;
/*協議相關*/
//extern u8 newLineReceived = 0;
/*
* 函數名：main
* 描述：主函數
*/
int main(void)
{
u8 PS2_KEY = 0, X1=0,Y1=0,X2=0,Y2=0;
u16 num = 0;
SystemInit(); //=====系統初始化
Timerx_Init(5000,7199); //定時器TIM1
// UltrasonicWave_Configuration(); //超聲波初始化設置 IO口及中斷設置
//USART1_Config(); //串口1初始化上位機
USART3_Config(); //串口3初始化藍牙與USART3公用相同IO口
TIM2_PWM_Init(); //PWM輸出初始化
MOTOR_GPIO_Config(); //電機IO口初始化
LED_GPIO_Config();
// TIM3_External_Clock_CountingMode(); //左電機脈沖輸出外部中斷口PA7使用TIM3定時器用作為脈沖數計算
// TIM4_External_Clock_CountingMode(); //右電機脈沖輸出外部中斷口PB7使用TIM4定時器用作為脈沖數計算
TIM3_Encoder_Init(); //編碼器獲取脈沖數 PA6 7
TIM4_Encoder_Init(); //編碼器獲取脈沖數 PB6 7
////////////////////DMP/////////////////////////////////
i2cInit(); //IIC初始化用于掛靠在總線上的設備使用
delay_nms(10); //延時10ms
MPU6050_Init(); //MPU6050 DMP陀螺儀初始化
PS2_Init(); //PS2手柄初始化
SysTick_Init(); //SysTick函數初始化
CarUpstandInit(); //小車直立參數初始化
SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk; //使能總算法時鐘
PrintChar("FFFFFFF \n");
while (1)
{
// GPIO_ResetBits(GPIOC, GPIO_Pin_13);
MPU6050_Pose(); //獲取MPU6050角度狀態
// gy0=gyro[0];
// UltrasonicWave_StartMeasure(); //調用超聲波發送程序給Trig腳 <10us 高電平
// chaoshengbo(); //計算超聲波測距距離
// printf("%d",ucBluetoothValue);
// printf("\t");
// printf("%f",BST_fSpeedControlOutNew);
// printf("\t");
// printf("%f",BST_fCarAngle);
// printf("\t");
// printf("%f",BST_fLeftMotorOut);
// printf("\t");
// printf("\n");
num++;
if(num == 500)
{
num =0;
PS2_KEY = PS2_DataKey(); //手柄按鍵捕獲處理
switch(PS2_KEY)
{
case PSB_SELECT: PrintChar("PSB_SELECT \n"); break;
case PSB_L3: g_newcarstate = enSTOP; PrintChar("PSB_L3 \n"); break;
case PSB_R3: g_newcarstate = enSTOP; PrintChar("PSB_R3 \n"); break;
case PSB_START: PrintChar("PSB_START \n"); break;
case PSB_PAD_UP: g_newcarstate = enRUN; PrintChar("PSB_PAD_UP \n"); break;
case PSB_PAD_RIGHT: g_newcarstate = enRIGHT; PrintChar("PSB_PAD_RIGHT \n"); break;
case PSB_PAD_DOWN: g_newcarstate = enBACK; PrintChar("PSB_PAD_DOWN \n"); break;
case PSB_PAD_LEFT: g_newcarstate = enLEFT; PrintChar("PSB_PAD_LEFT \n"); break;
case PSB_L2: PrintChar("PSB_L2 \n"); break;
case PSB_R2: PrintChar("PSB_R2 \n"); break;
case PSB_L1: PrintChar("PSB_L1 \n"); break;
case PSB_R1: PrintChar("PSB_R1 \n"); break;
case PSB_TRIANGLE: PrintChar("PSB_TRIANGLE \n"); break;
case PSB_CIRCLE: PrintChar("PSB_CIRCLE \n"); break;
case PSB_CROSS: PrintChar("PSB_CROSS \n"); break;
case PSB_SQUARE: PrintChar("PSB_SQUARE \n"); break;
default: g_newcarstate = enSTOP; break;
}
//獲取模擬值
if(PS2_KEY == PSB_L1 || PS2_KEY == PSB_R1)
{
X1 = PS2_AnologData(PSS_LX);
Y1 = PS2_AnologData(PSS_LY);
X2 = PS2_AnologData(PSS_RX);
Y2 = PS2_AnologData(PSS_RY);
/*左搖桿*/
if (Y1 < 5 && X1 > 80 && X1 < 180) //上
{
g_newcarstate = enRUN;
}
else if (Y1 > 230 && X1 > 80 && X1 < 180) //下
{
g_newcarstate = enBACK;
}
else if (X1 < 5 && Y1 > 80 && Y1 < 180) //左
{
g_newcarstate = enLEFT;
}
else if (Y1 > 80 && Y1 < 180 && X1 > 230)//右
{
g_newcarstate = enRIGHT;
}
else if (Y1 <= 80 && X1 <= 80) //左上
{
g_newcarstate = enUPLEFT;
}
else if (Y1 <= 80 && X1 >= 180) //右上
{
g_newcarstate = enUPRIGHT;
}
else if (X1 <= 80 && Y1 >= 180) // 左下
{
g_newcarstate = enDOWNLEFT;
}
else if (Y1 >= 180 && X1 >= 180) //右下
{
g_newcarstate = enDOWNRIGHT;
}
else//停
{
g_newcarstate = enSTOP;
}
/*右搖桿*/
if (X2 < 5 && Y2 > 110 && Y2 < 150) //左
{
g_newcarstate = enTLEFT;
}
else if (Y2 > 110 && Y2 < 150 && X2 > 230)//右
{
g_newcarstate = enTRIGHT;
}
else//歸位
{
//
}
}
}
CarStateOut();
}
}