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標題: stm32平衡小車程序 [打印本頁]

作者: wanlong 時間: 2019-5-8 22:19
標題: stm32平衡小車程序
/******************** (C) COPYRIGHT (2015)BST BALANCECAR **************************
* 文件名  ：main.c
**********************************************************************************/
#include "stm32f10x.h"
#include "mpu6050.h"
#include "i2c_mpu6050.h"
#include "motor.h"
#include "24l01.h"
#include "SysTick.h"
#include "led.h"
#include "usart.h"
#include "i2c.h"
#include "outputdata.h"
#include "timer.h"
#include "Lcd_Driver.h"
#include "main.h"
#include "key.h"
#include "delay.h"
#include "GUI.h"
#include "stdio.h"
#include "pwm.h"
//#include "motor.h"
//PA0,PA1,PA2,PA3 PWM輸出  PB13,PB15,接顯示屏    key1:PB5  key2:PB6 key3:PB7 P波分度值為1000，初始為0
//電機驅動  PB0 PB1 PB10 PB11
//key1  切換  key2  +    key3 -
int Compare1=0,Compare2=0,Compare3=0,Compare4=0;//改變占空比 ,分度值是1000

float pwm1,pwm2,pwm3,pwm4;
unsigned char string_pwm1[20],string_pwm2[20],string_pwm3[20],string_pwm4[20],string_compare13[20],string_compare24[20],string_key_flag[20];
extern int _200ms;
extern void moto_GPIO_Init();
int key_flag=0;
int main()
{

   delay_init(72);//Delay init.
  TIM2_PWM_Init();
Key_Init();
Lcd_Init();
LCD_LED_SET;
SysTick_Config(SystemCoreClock/1000);
      Gui_DrawFont_GBK16(0,130,RED,GRAY0, "QQ:2534656669");
   Lcd_Clear(WHITE);
moto_GPIO_Init();
   GPIO_SetBits(GPIOB,GPIO_Pin_0);
      GPIO_SetBits(GPIOB,GPIO_Pin_1);
      GPIO_SetBits(GPIOB,GPIO_Pin_10);
      GPIO_SetBits(GPIOB,GPIO_Pin_11);

while(1)
{
pwm1=(Compare1/20000.0)*100,pwm2=(Compare2/20000.0)*100, pwm3=(Compare3/20000.0)*100, pwm4=(Compare4/20000.0)*100;
  TIM_SetCompare1(TIM2,Compare1);
  TIM_SetCompare2(TIM2,Compare2);
  TIM_SetCompare3(TIM2,Compare3);
  TIM_SetCompare4(TIM2,Compare4);
  sprintf(string_pwm1,"pwm1：%.3f",pwm1);
sprintf(string_pwm2,"pwm2：%.3f",pwm2);
sprintf(string_pwm3,"pwm3：%.3f",pwm3);
sprintf(string_pwm4,"pwm4：%.3f",pwm4);
  sprintf(string_key_flag,"key_flag：%d",key_flag);
Gui_DrawFont_GBK16(0,0,RED,GRAY0,string_pwm1);
Gui_DrawFont_GBK16(0,20,RED,GRAY0,string_pwm2);
Gui_DrawFont_GBK16(0,40,RED,GRAY0,string_pwm3);
Gui_DrawFont_GBK16(0,60,RED,GRAY0,string_pwm4);
  Gui_DrawFont_GBK16(0,80,RED,GRAY0,string_key_flag);
}

}

恒溫屋.7z

280.82 KB, 下載次數: 7, 下載積分: 黑幣 -5

作者: admin 時間: 2019-5-9 04:40
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