基于MSP430改变占空比驱动L298N直流电机控制两路直流电机和步进电机控制器控制步进电机完整程序

好的，以下是一个基于MSP430改变占空比驱动L298N直流电机、控制两路直流电机和步进电机控制器控制步进电机的完整程序：

#include <msp430.h>

//定义直流电机1控制相关的引脚
#define Motor1_Enable BIT0 //P1.0
#define Motor1_IN1 BIT1 //P1.1
#define Motor1_IN2 BIT2 //P1.2

//定义直流电机2控制相关的引脚
#define Motor2_Enable BIT3 //P1.3
#define Motor2_IN1 BIT4 //P1.4
#define Motor2_IN2 BIT5 //P1.5

//定义步进电机控制相关的引脚
#define Stepper_Enable BIT6 //P1.6
#define Stepper_Dir BIT7 //P1.7
#define Stepper_Step BIT0 //P2.0

void delay(unsigned int time) //延时函数
{
    unsigned int i,j;
    for(i=0;i<time;i++)
    {
        for(j=0;j<1000;j++);
    }
}

void Motor1_Run(int duty) //控制直流电机1运行
{
    if(duty > 100) duty = 100; //限制占空比不超过100%
    if(duty < -100) duty = -100; //限制占空比不小于-100%
    
    if(duty > 0) //正转
    {
        P1OUT |= Motor1_IN1;
        P1OUT &= ~Motor1_IN2;
        TA0CCR1 = (unsigned int)(1000 * duty / 100.0);
    }
    else if(duty < 0) //反转
    {
        P1OUT &= ~Motor1_IN1;
        P1OUT |= Motor1_IN2;
        TA0CCR1 = (unsigned int)(-1000 * duty / 100.0);
    }
    else //停止
    {
        P1OUT &= ~Motor1_IN1;
        P1OUT &= ~Motor1_IN2;
        TA0CCR1 = 0;
    }
}

void Motor2_Run(int duty) //控制直流电机2运行
{
    if(duty > 100) duty = 100; //限制占空比不超过100%
    if(duty < -100) duty = -100; //限制占空比不小于-100%
    
    if(duty > 0) //正转
    {
        P1OUT |= Motor2_IN1;
        P1OUT &= ~Motor2_IN2;
        TA0CCR2 = (unsigned int)(1000 * duty / 100.0);
    }
    else if(duty < 0) //反转
    {
        P1OUT &= ~Motor2_IN1;
        P1OUT |= Motor2_IN2;
        TA0CCR2 = (unsigned int)(-1000 * duty / 100.0);
    }
    else //停止
    {
        P1OUT &= ~Motor2_IN1;
        P1OUT &= ~Motor2_IN2;
        TA0CCR2 = 0;
    }
}

void Stepper_Run(int steps, int dir) //控制步进电机运行
{
    int i;
    if(steps < 0) steps = -steps; //取绝对值
    
    if(dir == 1) //正向
    {
        P1OUT |= Stepper_Dir;
    }
    else //反向
    {
        P1OUT &= ~Stepper_Dir;
    }
    
    for(i=0;i<steps;i++)
    {
        delay(10); //控制步进电机旋转速度
        P2OUT ^= Stepper_Step; //产生脉冲，驱动步进电机旋转
    }
}

void main(void)
{
    WDTCTL = WDTPW + WDTHOLD; //停止看门狗定时器
    
    //配置直流电机1控制相关的引脚为输出
    P1DIR |= Motor1_Enable + Motor1_IN1 + Motor1_IN2;
    P1OUT &= ~(Motor1_Enable + Motor1_IN1 + Motor1_IN2);
    
    //配置直流电机2控制相关的引脚为输出
    P1DIR |= Motor2_Enable + Motor2_IN1 + Motor2_IN2;
    P1OUT &= ~(Motor2_Enable + Motor2_IN1 + Motor2_IN2);
    
    //配置步进电机控制相关的引脚为输出
    P1DIR |= Stepper_Enable + Stepper_Dir;
    P1OUT &= ~(Stepper_Enable + Stepper_Dir);
    P2DIR |= Stepper_Step;
    P2OUT &= ~Stepper_Step;
    
    //配置定时器A0，产生PWM信号，控制直流电机速度
    TA0CCR0 = 1000;
    TA0CCR1 = 0;
    TA0CCR2 = 0;
    TA0CCTL1 = OUTMOD_7;
    TA0CCTL2 = OUTMOD_7;
    TA0CTL = TASSEL_2 + MC_1 + ID_3;
    
    while(1)
    {
        Motor1_Run(50); //直流电机1正转50%
        Motor2_Run(-50); //直流电机2反转50%
        delay(5000); //延时5秒
        Motor1_Run(-50); //直流电机1反转50%
        Motor2_Run(50); //直流电机2正转50%
        delay(5000); //延时5秒
        Motor1_Run(0); //直流电机1停止
        Motor2_Run(0); //直流电机2停止
        delay(5000); //延时5秒
        
        Stepper_Run(200, 1); //步进电机正向旋转200步
        delay(5000); //延时5秒
        Stepper_Run(-200, 0); //步进电机反向旋转200步
        delay(5000); //延时5秒
    }
}

这个程序实现了通过MSP430改变占空比驱动L298N直流电机，并控制两路直流电机正转、反转和停止；以及控制步进电机控制器控制步进电机正向旋转和反向旋转。需要注意的是，具体的引脚连接方式需要根据实际硬件连接进行修改。