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- #include "led.h"
- #include "delay.h"
- #include "usart.h"
- #include "key.h"
- #include "sys.h"
- #include "oled.h"
- #include "menu.h"
- #include "encoder.h"
- #include "timer.h"
- #include "motor.h"
- #include "pid.h"
- /************************************************
- 功能加上串口通訊
- x,下舵機(jī)(1750->1950)從右往左
- y,上舵機(jī)(1750->1950)從上往下
- ************************************************/
- int x_pwm = 1850,y_pwm = 1825;
- // 初始化目標(biāo)值和小球的中心位置
- int x_face = 320, y_face = 240;
- int if_face=0;
- int x_face_store = 320, y_face_store = 240;
- int face_store=0;
- int x_target = 320, y_target = 240;
- // 上下舵機(jī)PID參數(shù)
- float x_KP = -0.00060,x_KI = 0.0007, x_KD = 0.002;
- float y_KP = -0.00060, y_KI = 0.0007, y_KD =0.002;
- // 儲(chǔ)存OPENCV發(fā)送來的數(shù)據(jù)
- u16 Res;
- int main(void)
- {
- /*延時(shí)函數(shù)初始化*/
- delay_init();
-
- /* 設(shè)置中斷優(yōu)先級(jí)分組2*/
- NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
-
- /*串口初始化為115200*/
- uart_init(115200);
-
- /*LED初始化*/
- LED_Init();
-
- /*KEY初始化*/
- KEY_Init();
-
- /*OLED初始化*/
- OLED_Init();
-
- /*100hz的計(jì)數(shù)頻率，每10ms進(jìn)入一次定時(shí)器中斷，更新當(dāng)前電機(jī)速度*/
- TIM6_Int_Init(99,7199);
-
- /*初始化編碼器 */
- Encoder_Init_TIM2();
-
- /*舵機(jī)定時(shí)器初始化 50HZ范圍1750-1950*/
- TIM3_PWM_Init(1999,719);
-
- /*初始化TIM1 PWM 10KHZ，用于驅(qū)動(dòng)電機(jī) */
- TIM4_PWM_Init(7199,0);
-
- /*200hz的計(jì)數(shù)頻率,每5ms進(jìn)入一次定時(shí)器中斷：中斷PID賦值*/
- TIM7_Int_Init(49,7199);
-
- AIN2=1;
- AIN1=0;//初始將電機(jī)不轉(zhuǎn)
- PWMA=0;
- TIM_SetCompare1 (TIM3,1850); //初始將舵機(jī)云臺(tái)位置設(shè)置在中間
- TIM_SetCompare2 (TIM3,1825);
-
-
- OLED_Fill(0, 0, 128, 63, 0);
- Display_OLEDMenu();
- while (1)
- {
- MenuReflash();
- }
- }
Keil代碼下載:
單片機(jī)程序V1.2.7z
(217.74 KB, 下載次數(shù): 40)
2022-3-29 13:23 上傳
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