求一个l298n驱动直流电机的程序

无友与 · 发表于 2019-4-27 13:45:22

32单片机，l298n驱动器，直流减速电机，

拾叶 · 发表于 2019-4-27 13:45:23

#ifndef __MOTOR_CONTROL_H
#define __MOTOR_CONTROL_H

#include "stm32f10x.h"

#define ONWARD 1
#define BACKWARD 0
#define  Out1 GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_0)
#define  Out2 GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_1)
#define  Out3 GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_2)
#define  Out4 GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_4)

void GPIO_Configuration(void);
void TIM3_GPIO_Config(void);
void TIM3_Configuration(u16 CCR_Val_12,u16 CCR_Val_34);
void Motor_speed_a(u8 speed,u8 flag);
void Motor_speed_b(u8 speed,u8 flag);
void Motor_speed_c(u8 speed,u8 flag);
void Motor_speed_d(u8 speed,u8 flag);
void Forward_run(void);
void Backward_run(void);
void Left_turn(void);
void Right_turn(void);
void Stop(void);
void Auto_run(void);
void Xunji_Forward_run(void);
void Xunji_Left_turn(void);
void Xunji_Right_turn(void);
void Xunji_Stop(void);
void Xunji_run(void);
void Control_GPIOE_Config(void);

#endif  /* __MOTOR_CONTROL_H */

拾叶 · 发表于 2019-4-27 15:10:23

#include "motor_control.h"
#include "sys.h"
#include "usart.h"

#define ONWARD 1
#define BACKWARD 0
extern vu8  count;
extern vu32 averge_distance;
vu8 left,right,middle;
vu32 S2;
vu32 S4;
vu32 S1;
vu32 timer;
int i;
//u16 Pwm_Right;
//u16 Pwm_Left;

/**************************************
函数名 :Control_GPIO_Config
函数描述：配置Control小车用到的I/O口
输入参数：无
输出参数：无
**************************************/
void  GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure; //定义两个GPIO_InitTypeDef类型的结构体

RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOC,ENABLE);//开启GPIOA外设时钟

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2|GPIO_Pin_3|GPIO_Pin_0|GPIO_Pin_13; //选择要控制的GPIOA引脚(PA.4,pa5端口配置)
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //设置引脚模式为推挽式输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //设置引脚速度为50Mhz
GPIO_Init(GPIOC,&GPIO_InitStructure); //调用库函数初始化 GPIOA
//刚开始停止电机转动
GPIO_ResetBits(GPIOC,GPIO_Pin_2|GPIO_Pin_3|GPIO_Pin_0|GPIO_Pin_13);

}

void TIM3_Configuration(u16 CCR_Val_12,u16 CCR_Val_34)
{

TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;

//CCR_Val_12 = 900;
//CCR_Val_34 = 900;
/* -----------------------------------------------------------------------
TIM3 Configuration: generate 2 PWM signals with 2 different duty cycles:
TIM3CLK = 36 MHz, Prescaler = 0x0, TIM3 counter clock = 36 MHz
TIM3 ARR Register = 999 => TIM3 Frequency = TIM3 counter clock/(ARR + 1)
TIM3 Frequency = 36 KHz.
   TIM3 Channel1 duty cycle = (CCR_Val_12/ TIM3_ARR)* 100 = 50%
   TIM3 Channel1 duty cycle = (CCR_Val_34/ TIM3_ARR)* 100 = 50%
  ----------------------------------------------------------------------- */
/***通道1的配置*****/
TIM_TimeBaseStructure.TIM_Period = 999;       //设定总周期值
TIM_TimeBaseStructure.TIM_Prescaler = 0;    //设置预分频：不预分频，即为36MHz
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1 ; //设置时钟分频系数：不分频
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //向上计数模式

TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;       //配置为PWM模式1
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_Pulse = CCR_Val_12;    //设置跳变值，当计数器计数到这个值时，电平发生跳变
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;  //当定时器计数值小于CCR_Val时为高电平
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_Pulse = CCR_Val_34;    //设置通道3的电平跳变值，输出另外一个占空比的PWM

  TIM_OC1Init(TIM3, &TIM_OCInitStructure);    //使能通道1
  TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);

  TIM_OC2Init(TIM3, &TIM_OCInitStructure);    //使能通道2
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
/***通道3的配置*****/

  TIM_ARRPreloadConfig(TIM3, ENABLE);    // 使能TIM3重载寄存器ARR
  TIM_Cmd(TIM3, ENABLE);                //使能定时器3

}

/*************前进***********/
void Forward_run(void)
{
   /*左侧轮子停转*/
// Pwm_Left = 900;
// Pwm_Right = 900;

TIM3_Configuration(700,700);

GPIO_ResetBits(GPIOC,GPIO_Pin_2);//0
GPIO_SetBits(GPIOC,GPIO_Pin_3);//1

GPIO_ResetBits(GPIOC,GPIO_Pin_0);//0
GPIO_SetBits(GPIOC,GPIO_Pin_13);//1


}
/*************后退***********/
void Backward_run(void)
{

/*左侧轮子停转*/
// Pwm_Left = 900;
// Pwm_Right = 900;

TIM3_Configuration(700,700);


      GPIO_SetBits(GPIOC,GPIO_Pin_2);//1
      GPIO_ResetBits(GPIOC,GPIO_Pin_3);//0

      GPIO_SetBits(GPIOC,GPIO_Pin_0);//1
         GPIO_ResetBits(GPIOC,GPIO_Pin_13);//0

}