有没有大佬用STM32F407做过平衡小车

Z一叶孤舟 · 发表于 2018-6-22 23:37:40

不知道为啥我的PWM 一个定时器2个通道输出控制电机一个电机受控（速度随角度从慢到快）一个电机一直匀速转动但是能正反转

Z一叶孤舟 · 发表于 2018-6-22 23:37:41

技术不够我用2个定时器解决了

Z一叶孤舟 · 发表于 2018-6-22 23:51:42

本帖最后由 Z一叶孤舟于 2018-6-22 23:55 编辑

#include "motor.h"
#include "led.h"
#include "usart.h"

void TIM2_PWMAB_Init(u32 arr,u32 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_OCInitTypeDef  TIM_OCInitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

GPIO_PinAFConfig(GPIOA,GPIO_PinSource0,GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource1,GPIO_AF_TIM2);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOA,&GPIO_InitStructure);

TIM_TimeBaseStructure.TIM_Prescaler=psc;
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period=arr;
TIM_TimeBaseStructure.TIM_ClockDivision=0;

TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStructure);

//³õÊ¼»¯TIM14 Channel1 PWMÄ£Ê½
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse=0;
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);

TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse=0;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);

TIM_ARRPreloadConfig(TIM2,ENABLE);
TIM_Cmd(TIM2, ENABLE);

}

void Motor_Pin_Init(void)
{
  GPIO_InitTypeDef  GPIO_InitStructure;

  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE);

  //GPIOF9,F10³õÊ¼»¯ÉèÖÃ
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3| GPIO_Pin_4| GPIO_Pin_5;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_Init(GPIOF, &GPIO_InitStructure);

}