STM32F103 PWM簡單控制小車運行

ID:321034 · 發表于 2018-7-19 17:48

單片機源程序如下:

# include "stm32f10x.h"
# include "pwm.h"
# include "motor.h"
# include "csb.h"
# include "delay.h"
void NVIC_Configuration(void);
vu32 Onward_flag=0; //前進
vu32 Left_flag=0; //左轉
vu32 Right_flag=0; //右轉
vu32 Backward_flag=0; // 后退
vu32 Stop_flag=0; //停止
int main(void)
{
NVIC_Configuration();
GPIO_Configuration();
TIM2_Configuration(700,700);
delay_us(50);
while(1)
{
if(Onward_flag==1)
{
Go_Forward(); //前進
}
else if(Backward_flag==1)
{
delay_us(30);
Go_Backward(); //后退
}
else if(Left_flag==1)
{
delay_us(30);
Go_Left(); //左轉
}
else if(Right_flag==1)
{
delay_us(30);
Go_Right(); // 右轉
}
else
{
Stop(); //暫停
}
}
}
/*******************************************************************************
* 函數名 : NVIC_Configuration
* 描述 : 初始化NVIC
* 輸入 : 無
* 輸出 : 無
* 返回 : 無
*******************************************************************************/
void NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
/* Configure the Priority Group to 2 bits */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel5_IRQn ; // Enable the DMA_Channel5 Interrupt
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}