有没有做平衡小车遇到编码程序与控制程序冲突的

Z一叶孤舟 · 发表于 2018-6-28 23:20:34

求解屏蔽了编码程序直立控制就能用不屏蔽控制直接凉了不起作用

Z一叶孤舟 · 发表于 2018-6-28 23:27:23

按着平衡小车之家精简版的程序写的对比着好久还是找不出问题在吗

Z一叶孤舟 · 发表于 2018-6-29 00:07:19

#include "encoder.h"
#include "usart.h"

///**************************************************************************
//º¯Êý¹¦ÄÜ£ºTIM3ÖÐ¶Ï·þÎñº¯Êý
//Èë¿Ú²ÎÊý£ºÎÞ
//·µ»Ø  Öµ£ºÎÞ
//**************************************************************************/
void TIM3_IRQHandler(void)
{
if(TIM3->SR&0X0001)//Òç³öÖÐ¶Ï
{
}
TIM3->SR&=~(1<<0);//Çå³ýÖÐ¶Ï±êÖ¾Î»
}
/*****************************************************************************/
void Encoder_L_Init_TIM3(void)//×ó±ß±àÂëÆ÷µÄ³õÊ¼»¯
{

TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE); //TIM12Ê±ÖÓÊ¹ÄÜ
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);  //Ê¹Ä&Uuml

ORTBÊ±Ö
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_Init(GPIOC, &GPIO_InitStructure);

GPIO_PinAFConfig(GPIOC,GPIO_PinSource6,GPIO_AF_TIM3);
  GPIO_PinAFConfig(GPIOC,GPIO_PinSource7,GPIO_AF_TIM3);

TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);

TIM_TimeBaseStructure.TIM_Prescaler = 0x0;
  TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD;
  TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
  TIM_ICStructInit(&TIM_ICInitStructure);
  TIM_ICInitStructure.TIM_ICFilter = 0;
  TIM_ICInit(TIM3, &TIM_ICInitStructure);

TIM_ClearFlag(TIM3, TIM_FLAG_Update);
  TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
  TIM_Cmd(TIM3, ENABLE);
}
/****************************************************************************************/
void Encoder_R_Init_TIM4(void)//ÓÒ±ß±àÂëÆ÷µÄ³õÊ¼»¯
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE); //TIM12Ê±ÖÓÊ¹ÄÜ
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);  //Ê¹Ä&Uuml

ORTBÊ±Ö
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_Init(GPIOD, &GPIO_InitStructure);
  GPIO_PinAFConfig(GPIOD,GPIO_PinSource12,GPIO_AF_TIM4);
  GPIO_PinAFConfig(GPIOD,GPIO_PinSource13,GPIO_AF_TIM4);

  TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);

  TIM_TimeBaseStructure.TIM_Prescaler = 0x0;
  TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD;
  TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);

  TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
  TIM_ICStructInit(&TIM_ICInitStructure);
  TIM_ICInitStructure.TIM_ICFilter = 0;
  TIM_ICInit(TIM4, &TIM_ICInitStructure);

  TIM_ClearFlag(TIM4, TIM_FLAG_Update);
  TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
  TIM_Cmd(TIM4, ENABLE);
}

/**********************************************************************************/
int Read_Encoder(u8 TIMX)//¶ÁÈ¡±àÂëÆ÷¼ÆÊý
{
  int Encoder_TIM;
  switch(TIMX)
  {
  case 2:  Encoder_TIM= (short)TIM2 -> CNT;  TIM2 -> CNT=0;break;
  case 3:  Encoder_TIM= (short)TIM3 -> CNT;  TIM3 -> CNT=0;break;
  case 4:  Encoder_TIM= (short)TIM4 -> CNT;  TIM4 -> CNT=0;break;
  default:  Encoder_TIM=0;
  }
  return Encoder_TIM;
}

到底死在哪条程序上。。。