|
|
#include "stm32f10x.h"
#include "interface.h"
#include "LCD1602.h"
#include "IRCtrol.h"
#include "motor.h"
//全局變量定義
unsigned int speed_count=0;//占空比計(jì)數(shù)器 50次一周期
char front_left_speed_duty=SPEED_DUTY;
char front_right_speed_duty=SPEED_DUTY;
char behind_left_speed_duty=SPEED_DUTY;
char behind_right_speed_duty=SPEED_DUTY;
unsigned char tick_5ms = 0;//5ms計(jì)數(shù)器，作為主函數(shù)的基本周期
unsigned char tick_1ms = 0;//1ms計(jì)數(shù)器，作為電機(jī)的基本計(jì)數(shù)器
unsigned char tick_200ms = 0;//刷新顯示
char ctrl_comm = 'S';//控制指令
unsigned char continue_time=0;
void InitIO()
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOE , ENABLE);//使能LED使用的GPIO時(shí)鐘
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOE , &GPIO_InitStructure);//將使用LED燈相關(guān)的GPIO初始化
GPIO_SetBits(GPIOE , GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10);//關(guān)閉所有的ＬＥＤ指示燈
}
int main(void)
{
delay_init();
LCD1602Init();
IRCtrolInit();
TIM2_Init();
MotorInit();
ServoInit();
InitIO();
while(1)
{
if(tick_5ms >= 5)
{
tick_5ms = 0;
tick_200ms++;
if(tick_200ms >= 40)
{
tick_200ms = 0;
LEDToggle(GPIO_Pin_8);
}
continue_time--;//200ms 無接收指令就停車
if(continue_time == 0)
{
continue_time = 1;
CarStop();
}
//do something
if(ir_rec_flag == 1)//接收到紅外信號(hào)
{
ir_rec_flag = 0;
switch(ctrl_comm)
{
case COMM_UP: CarGo();break;
case COMM_DOWN: CarBack();break;
case COMM_LEFT: CarLeft();break;
case COMM_RIGHT: CarRight();break;
case COMM_STOP: CarStop();break;
default : break;
}
LCD1602WriteCommand(ctrl_comm);
}
}
}
}
|
|
QQ好友和群
QQ空間
騰訊微博
騰訊朋友
收藏
淘帖
頂
踩
