stm32智能小车前进代码
时间: 2023-09-11 11:08:24 浏览: 74
你可以使用以下代码让STM32智能小车前进:
```c
#include "stm32f4xx.h"
#define MOTOR1_PWM_PIN GPIO_Pin_0
#define MOTOR1_PWM_PORT GPIOE
#define MOTOR1_DIR_PIN GPIO_Pin_1
#define MOTOR1_DIR_PORT GPIOE
#define MOTOR2_PWM_PIN GPIO_Pin_2
#define MOTOR2_PWM_PORT GPIOE
#define MOTOR2_DIR_PIN GPIO_Pin_3
#define MOTOR2_DIR_PORT GPIOE
void motor1_forward(void)
{
GPIO_SetBits(MOTOR1_DIR_PORT, MOTOR1_DIR_PIN);
TIM_SetCompare1(TIM1, 1000); // 设置PWM占空比为1000/2000
}
void motor1_stop(void)
{
TIM_SetCompare1(TIM1, 0); // 设置PWM占空比为0,关闭电机
}
void motor2_forward(void)
{
GPIO_SetBits(MOTOR2_DIR_PORT, MOTOR2_DIR_PIN);
TIM_SetCompare2(TIM1, 1000); // 设置PWM占空比为1000/2000
}
void motor2_stop(void)
{
TIM_SetCompare2(TIM1, 0); // 设置PWM占空比为0,关闭电机
}
int main(void)
{
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.GPIO_Pin = MOTOR1_PWM_PIN | MOTOR2_PWM_PIN;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOE, &GPIO_InitStruct);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource0, GPIO_AF_TIM1);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource2, GPIO_AF_TIM1);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStruct;
TIM_TimeBaseStruct.TIM_Prescaler = 84 - 1;
TIM_TimeBaseStruct.TIM_Period = 2000 - 1;
TIM_TimeBaseStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStruct.TIM_ClockDivision = 0;
TIM_TimeBaseStruct.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStruct);
TIM_OCInitTypeDef TIM_OCInitStruct;
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OCInitStruct.TIM_Pulse = 0;
TIM_OC1Init(TIM1, &TIM_OCInitStruct);
TIM_OC2Init(TIM1, &TIM_OCInitStruct);
TIM_Cmd(TIM1, ENABLE);
while(1)
{
motor1_forward();
motor2_forward();
}
}
```
这是一个简单的示例代码,假设你使用的是STM32F4系列芯片和标准库进行开发。该代码使用TIM1定时器和PWM输出来控制两个电机驱动,实现前进功能。你可以根据自己的硬件连接和需求进行适当的修改。