请大佬指点迷津

sxzycr · 发表于 2017-6-16 20:57:51

用战舰版控制直流电机，为什么没反应呢

sxzycr · 发表于 2017-6-16 21:00:45

用的驱动器是这个，现在只是让电机正转，没有调速

sxzycr · 发表于 2017-6-16 21:02:32

代码是这样的
#include "stm32f10x.h"
#include "motor.h"
#include "sys.h"

//×ó??3?ê??ˉ

void       MotorDriver_L_Config(void){

      GPIO_InitTypeDef                                     GPIO_InitStructure ;
      TIM_TimeBaseInitTypeDef             TIM_BaseInitStructure;
      TIM_OCInitTypeDef                                     TIM_OCInitStructure;

      /*ê1?üGPIOB?￠TIM4íaéèê±?ó*/
      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_TIM1, ENABLE);

      /*3?ê??ˉPB6???ú?aOut_PP?￡ê?*/
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_Init(GPIOB, &GPIO_InitStructure);

      /*3?ê??ˉPB8???ú?aOut_PP?￡ê?*/
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
      GPIO_Init(GPIOB, &GPIO_InitStructure);

      /*3?ê??ˉPA7???ú(TIM4_CH2)?aAF_PP?￡ê?í?íìê?3?*/
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_Init(GPIOA, &GPIO_InitStructure);

      /*?¨ê±?÷?ù±?????time3 μ? ch2í¨μà*/
      TIM_BaseInitStructure.TIM_Prescaler = 3-1;                                                                      //ê±?ó?¤·??μêy3,TIM8μ???êyê±?ó?μ?ê?a24MHz
      TIM_BaseInitStructure.TIM_Period = 1000-1;                                                                      //×??ˉ??×°????′??÷êy?μ,PWM2?μ?ê?a24MHz/1000=24KHz
      TIM_BaseInitStructure.TIM_ClockDivision = 0;                                                             //2é?ù·??μ
      TIM_BaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;                                     //?òé???êy
      TIM_TimeBaseInit(TIM1, &TIM_BaseInitStructure);


      TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;                                                 /*PWM2  ch2ê?3??￡ê?WM?￡ê?2￡- ?ú?òé???êyê±￡?
                                                                                                                                                            ò?μ?TIMx_CNT<TIMx_CCR1ê±í¨μà1?a?TD§μ???￡?·??ò?a
                                                                                                                                                            óDD§μ???￡??ú?ò????êyê±￡?ò?μ?TIMx_CNT>TIMx_CCR1ê±í¨μà1?aóDD§μ???
                                                                                                                                                            ￡?·??ò?a?TD§μ????￡*/
      TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;                               //ê1?ü??í¨μàê?3?
      TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;                                     //ê?3???D?
      TIM_OC4Init(TIM1, &TIM_OCInitStructure);                                                                      //°′???¨2?êy3?ê??ˉ

      TIM_OC4PreloadConfig(TIM8, TIM_OCPreload_Enable);                                                       //ê1?üTIM8?úCCRé?μ??¤×°????′??÷
      TIM_ARRPreloadConfig(TIM1, ENABLE);                                                                                     //ê1?üTIM8?úARRé?μ??¤×°????′??÷

      TIM_Cmd(TIM1, ENABLE);                                                                                                             //ê1?üTIM8
}

//óò??3?ê??ˉ
void       MotorDriver_R_Config(void){

      GPIO_InitTypeDef                                     GPIO_InitStructure ;
      TIM_TimeBaseInitTypeDef             TIM_BaseInitStructure;
      TIM_OCInitTypeDef                                     TIM_OCInitStructure;

      /*ê1?üGPIOc?￠TIM8íaéèê±?ó*/
      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC  | RCC_APB2Periph_TIM8, ENABLE);

      /*3?ê??ˉPB10???ú?aOut_PP?￡ê?*/
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_Init(GPIOC, &GPIO_InitStructure);

      /*3?ê??ˉPB.111???ú?aOut_PP?￡ê?*/
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
      GPIO_Init(GPIOC, &GPIO_InitStructure);

      /*3?ê??ˉPC.09???ú(TIM8_CH4)?aAF_PP?￡ê?*/
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_Init(GPIOC, &GPIO_InitStructure);

      /*?¨ê±?÷?ù±?????time8 μ? ch4í¨μà*/
      TIM_BaseInitStructure.TIM_Prescaler = 3-1;                                     //ê±?ó?¤·??μêypsc=3,TIM8μ???êyê±?ó?μ?ê?a24MHz
      TIM_BaseInitStructure.TIM_Period = 1000-1;                                     //×??ˉ??×°????′??÷êy?μarr=1000,PWM2?μ?ê?a24MHz/1000=24KHz
      TIM_BaseInitStructure.TIM_ClockDivision = 0;                                                                                              //2é?ù·??μ
      TIM_BaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;                                     //?òé???êy
      TIM_TimeBaseInit(TIM8, &TIM_BaseInitStructure);

      TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;                                                                               //PWM2  ch2ê?3??￡ê?
      TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;                               //ê1?ü??í¨μàê?3?
      TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;                                              //ê?3???D?
      TIM_OC4Init(TIM8, &TIM_OCInitStructure);                                                                                                             //°′???¨2?êy3?ê??ˉ

      TIM_OC4PreloadConfig(TIM8, TIM_OCPreload_Enable);                                                                               //ê1?üTIM8?úCCRé?μ??¤×°????′??÷
      TIM_ARRPreloadConfig(TIM8, ENABLE);                                                                                                                                     //ê1?üTIM8?úARRé?μ??¤×°????′??÷

      TIM_Cmd(TIM8, ENABLE);                                                                                                                                                                                     //′ò?aTIM8
}

void       MotorDriver_L_Turn_Forward(void){                      //×ó??μ??ú?y×a

         GPIO_SetBits(GPIOB, GPIO_Pin_5);
         GPIO_ResetBits(GPIOB, GPIO_Pin_6);

         GPIO_SetBits(GPIOC, GPIO_Pin_10);
}

//void       MotorDriver_L_Turn_Reverse(void){                      //×ó??μ??ú·′×a
//
//          GPIO_SetBits(GPIOB, GPIO_Pin_6);
//          GPIO_ResetBits(GPIOB, GPIO_Pin_5);

//}

//void       MotorDriver_R_Turn_Forward(void){                      //óò??μ??ú?y×a
//
//          GPIO_SetBits(GPIOC, GPIO_Pin_10);
//          GPIO_ResetBits(GPIOC, GPIO_Pin_11);
//}

//void       MotorDriver_R_Turn_Reverse(void){                      //óò??μ??ú·′×a
//
//          GPIO_SetBits(GPIOC, GPIO_Pin_11);
//          GPIO_ResetBits(GPIOC, GPIO_Pin_10);
//}

void       MotorDriver_L_Turn_Stop(void)                               //×ó??μ??ú???ˉ
{
         GPIO_ResetBits(GPIOB, GPIO_Pin_5);
         GPIO_ResetBits(GPIOB, GPIO_Pin_6);

         //GPIO_SetBits(GPIOC, GPIO_Pin_10);
}
//void       MotorDriver_R_Turn_Stop(void)                               //óò??μ??ú???ˉ
//{
//          GPIO_ResetBits(GPIOC, GPIO_Pin_10);
//          GPIO_ResetBits(GPIOC, GPIO_Pin_11);
//}

void       MotorDriver_Init(void){

         MotorDriver_R_Config();
         MotorDriver_L_Config();

         MotorDriver_L_Turn_Stop();                               //×ó??μ??ú???ˉ
      //MotorDriver_R_Turn_Stop();                               //óò??μ??ú???ˉ
}
#include "motor.h"
#include "delay.h"

int main(void)
{
delay_init();
MotorDriver_Init();

while(1)
{
      MotorDriver_L_Turn_Forward( ); //水平电机正转
//             delay_ms(2000);
//    MotorDriver_L_Turn_Reverse();                                        //水平电机反转
//             delay_ms(2000);
//    MotorDriver_L_Turn_Stop();                                        //水平电机制动
//             delay_ms(2000);
}
}