STM32循跡小車源程序

ID:365046 · 發表于 2018-7-15 09:23

#include "motor.h"
#include "interface.h"
#include "stm32f10x.h"
#include "delay.h"

//GPIOéèÖÃ
void MotorGPIO_Configuration(void)
{
      GPIO_InitTypeDef GPIO_InitStructure;

      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE);
      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB , ENABLE);
      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC , ENABLE);

      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOF , ENABLE);

      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1  | GPIO_Pin_6 | GPIO_Pin_7;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
      GPIO_Init(GPIOA, &GPIO_InitStructure);

      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_7| GPIO_Pin_8;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
      GPIO_Init(GPIOB, &GPIO_InitStructure);

      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7| GPIO_Pin_6|GPIO_Pin_8| GPIO_Pin_9;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
      GPIO_Init(GPIOC, &GPIO_InitStructure);


}

//ÏòÇ°
void CarGo(void)
{
      TIM_SetCompare1(TIM3 , 430);
  TIM_SetCompare2(TIM3 , 430);
      TIM_SetCompare3(TIM3 , 430);
      TIM_SetCompare4(TIM3 , 430);

      FRONT_LEFT_F = 1;
      FRONT_LEFT_B = 0;
      BEHIND_LEFT_F =1;
      BEHIND_LEFT_B = 0;

      FRONT_RIGHT_F = 1;
      FRONT_RIGHT_B = 0;
      BEHIND_RIGHT_F = 0;
      BEHIND_RIGHT_B = 1;

      delay_ms(100);
}

//Ïòoó
void CarBack(void)
{
      TIM_SetCompare1(TIM3 , 400);
      TIM_SetCompare2(TIM3 , 400);
      TIM_SetCompare3(TIM3 , 400);
      TIM_SetCompare4(TIM3 , 400);

      FRONT_LEFT_F  = 0;
      FRONT_LEFT_B  = 1;
      BEHIND_LEFT_F = 0;
      BEHIND_LEFT_B = 1;

      FRONT_RIGHT_F  = 0;
      FRONT_RIGHT_B  = 1;
      BEHIND_RIGHT_F = 1;
      BEHIND_RIGHT_B = 0;

      delay_ms(100);

}

//Ïòóò
void CarLeft(void)
{
      TIM_SetCompare1(TIM3 , 300);
      TIM_SetCompare2(TIM3 , 300);
      TIM_SetCompare4(TIM3 , 350);
      TIM_SetCompare3(TIM3 ,350);

      FRONT_LEFT_F  = 1;
      FRONT_LEFT_B  = 0;
      BEHIND_LEFT_F = 1;
      BEHIND_LEFT_B = 0;

      FRONT_RIGHT_F  = 0;
      FRONT_RIGHT_B  = 1;
      BEHIND_RIGHT_F = 1;
      BEHIND_RIGHT_B = 0;

      delay_ms(100);

}
//′óóò
void CarBigLeft(void)
{
      TIM_SetCompare1(TIM3 , 400);
      TIM_SetCompare2(TIM3 , 400);

      FRONT_LEFT_F  = 1;
      FRONT_LEFT_B  = 0;
      BEHIND_LEFT_F = 1;
      BEHIND_LEFT_B = 0;

      FRONT_RIGHT_F  = 0;
      FRONT_RIGHT_B  = 0;
      BEHIND_RIGHT_F = 0;
      BEHIND_RIGHT_B = 0;

      delay_ms(100);

}

//Ïò×ó
void CarRight(void)
{
      TIM_SetCompare1(TIM3 , 350);
      TIM_SetCompare2(TIM3 , 350);
      TIM_SetCompare4(TIM3 , 300);
      TIM_SetCompare3(TIM3 ,300);

      FRONT_LEFT_F  = 0;
      FRONT_LEFT_B  = 1;
      BEHIND_LEFT_F = 0;
      BEHIND_LEFT_B = 1;

      FRONT_RIGHT_F  = 1;
      FRONT_RIGHT_B  = 0;
      BEHIND_RIGHT_F = 0;
      BEHIND_RIGHT_B = 1;


}

//′ó×ó
void CarBigRight(void)
{
      TIM_SetCompare4(TIM3 , 400);
      TIM_SetCompare3(TIM3 , 400);

      FRONT_LEFT_F  = 0;
      FRONT_LEFT_B  = 0;
      BEHIND_LEFT_F = 0;
      BEHIND_LEFT_B = 0;

      FRONT_RIGHT_F  = 1;
      FRONT_RIGHT_B  = 0;
      BEHIND_RIGHT_F = 1;
      BEHIND_RIGHT_B = 0;


}

//í￡Ö1
void CarStop(void)
{
      TIM_SetCompare1(TIM3 , 900);
      TIM_SetCompare2(TIM3 , 900);
      TIM_SetCompare3(TIM3 , 900);
      TIM_SetCompare4(TIM3 , 900);

}

void MotorInit(void)
{
      MotorGPIO_Configuration();
      CarStop();
}