#define StopSwitch 0 #define CascadeSwitch 1 CAR xCarParam = {0}; float tarYaw = 90.0f; uint8_t uStateSwicth = 0; uint8_t xStatus = 0; uint8_t yStatus = 0; uint16_t SpeedMaxX = 200; uint16_t SpeedMaxY = 200; uint16_t SpeedMaxZ = 400; uint16_t uStartSpeed = 0; uint16_t speed_up_cnt_x = 0; uint16_t speed_up_cnt_y = 0; uint8_t increase_rat_x = 4; uint8_t increase_rat_y = 4; float Kx = 1.0f; float Ky = 1.0f; void SpeedX_Control(void); void SpeedY_Control(void); void MoveReset(void) { xCarParam.Speed_X = 0; xCarParam.Speed_Y = 0; xCarParam.Speed_Z = 0; xCarParam.Status = 0; xCarParam.EncoderSumX = 0; xCarParam.EncoderSumY = 0; xCarParam.CarDistanceX = 0; xCarParam.CarDistanceY = 0; } void Move(uint8_t CoordX,uint8_t CoordY) { pit_disable(MOTOR_PIT); MoveReset(); xCarParam.CarDistanceX = (int64_t)((CoordX - xCarParam.nowCoordX)*20.0f*Kx); xCarParam.CarDistanceY = (int64_t)((CoordY - xCarParam.nowCoordY)*20.0f*Ky); uStateSwicth = CascadeSwitch; pit_enable(MOTOR_PIT); } void Stop() { pit_disable(MOTOR_PIT); MoveReset(); uStateSwicth = StopSwitch; pit_enable(MOTOR_PIT); }
时间: 2024-04-18 10:23:39 浏览: 19
这段代码是一个移动控制的函数,通过控制小车的速度和距离来实现移动。
首先定义了一些常量和变量,如停止开关和级联开关的状态,小车的参数,目标偏航角,速度上限,起始速度等。
然后定义了一些函数,如速度控制函数SpeedX_Control和SpeedY_Control,以及MoveReset函数用于重置小车参数。
Move函数用于控制小车移动到指定的坐标位置。它首先禁用了定时器中断,然后重置小车参数。接着计算出小车在X和Y方向上需要移动的距离,并将其存储在CarDistanceX和CarDistanceY中。最后将级联开关状态设置为1,重新启用定时器中断。
Stop函数用于停止小车的运动。它也首先禁用了定时器中断,然后重置小车参数。然后将级联开关状态设置为0,重新启用定时器中断。
这段代码中还有一些其他的变量和参数,具体功能需要根据上下文来确定。
相关问题
STM32F407 三路巡线 舵机控制转向标准库函数代码
以下是一个简单的示例代码,使用标准库函数控制STM32F407上的三个舵机和巡线传感器。请注意,此代码仅提供参考,并且可能需要进行调整以适应您的具体硬件设置。
```c
#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_tim.h"
#define SENSOR_LEFT GPIO_Pin_0
#define SENSOR_CENTER GPIO_Pin_1
#define SENSOR_RIGHT GPIO_Pin_2
#define SERVO_LEFT GPIO_Pin_6
#define SERVO_CENTER GPIO_Pin_7
#define SERVO_RIGHT GPIO_Pin_8
#define PWM_FREQUENCY 50
void init_gpio()
{
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
// 巡线传感器
GPIO_InitStructure.GPIO_Pin = SENSOR_LEFT | SENSOR_CENTER | SENSOR_RIGHT;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// 舵机控制引脚
GPIO_InitStructure.GPIO_Pin = SERVO_LEFT | SERVO_CENTER | SERVO_RIGHT;
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_NOPULL;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// 舵机引脚复用映射
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_TIM4);
}
void init_pwm()
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
// PWM时钟频率 = SystemCoreClock / (Prescaler * (Period + 1))
uint16_t prescaler = ((SystemCoreClock / 2) / (PWM_FREQUENCY * 65535)) - 1;
uint16_t period = (SystemCoreClock / 2) / (PWM_FREQUENCY * (prescaler + 1));
TIM_TimeBaseStructure.TIM_Period = period - 1;
TIM_TimeBaseStructure.TIM_Prescaler = prescaler;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
// 舵机PWM输出模式
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_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_Cmd(TIM4, ENABLE);
}
void set_servo_angle(uint16_t servo, float angle)
{
// 舵机占空比范围:500us~2500us,对应角度范围:0~180度
uint16_t pulse_width = (uint16_t)(angle * 10.0f + 500.0f);
TIM_SetCompare1(TIM4, pulse_width);
}
int main(void)
{
init_gpio();
init_pwm();
while (1)
{
// 巡线传感器检测
uint8_t left = GPIO_ReadInputDataBit(GPIOA, SENSOR_LEFT);
uint8_t center = GPIO_ReadInputDataBit(GPIOA, SENSOR_CENTER);
uint8_t right = GPIO_ReadInputDataBit(GPIOA, SENSOR_RIGHT);
// 根据巡线传感器的值控制舵机转向
if (left && center && right)
{
set_servo_angle(SERVO_CENTER, 90.0f);
}
else if (left && !center && !right)
{
set_servo_angle(SERVO_LEFT, 45.0f);
}
else if (!left && center && !right)
{
set_servo_angle(SERVO_CENTER, 90.0f);
}
else if (!left && !center && right)
{
set_servo_angle(SERVO_RIGHT, 135.0f);
}
else if (!left && center && right)
{
set_servo_angle(SERVO_CENTER, 90.0f);
}
else if (left && center && !right)
{
set_servo_angle(SERVO_LEFT, 45.0f);
}
}
}
```
stm32f407光电小车以坐标行进的代码
首先,需要明确小车的坐标系以及如何进行坐标转换。假设小车当前所在位置为(x,y),朝向角度为theta,前进距离为d,则小车前进后的新位置可以通过以下公式计算:
new_x = x + d * cos(theta)
new_y = y + d * sin(theta)
接下来是具体的代码实现:
```c
#include "stm32f4xx.h"
#include "math.h"
#define PI 3.14159265358979323846
// 小车当前位置和朝向角度
float x = 0.0;
float y = 0.0;
float theta = 0.0;
// 前进距离和速度
float distance = 0.0;
float speed = 0.0;
// 转弯半径和速度
float radius = 0.0;
float turn_speed = 0.0;
// 计算角度对应的弧度值
float deg2rad(float deg) {
return deg / 180.0 * PI;
}
// 前进一定距离
void move_forward(float distance) {
float dx = distance * cos(deg2rad(theta));
float dy = distance * sin(deg2rad(theta));
x += dx;
y += dy;
}
// 左转一定角度
void turn_left(float angle) {
float dtheta = deg2rad(angle);
float dx = radius * (sin(theta + dtheta) - sin(theta));
float dy = radius * (-cos(theta + dtheta) + cos(theta));
x += dx;
y += dy;
theta += angle;
}
// 右转一定角度
void turn_right(float angle) {
turn_left(-angle);
}
// 初始化
void init() {
// TODO: 初始化GPIO和PWM等
}
int main(void) {
init();
while(1) {
// TODO: 读取光电传感器数据,决定前进距离和速度
if(distance > 0.0) {
move_forward(distance);
}
// TODO: 根据光电传感器数据,决定转弯半径和速度
if(radius > 0.0 && turn_speed > 0.0) {
float arc_length = radius * deg2rad(90.0);
float arc_time = arc_length / turn_speed;
// 左转90度
turn_left(90.0);
// 等待转弯完成
HAL_Delay((uint32_t)(arc_time * 1000));
}
}
}
```
需要注意的是,上述代码仅提供了基本的坐标行进功能,具体实现还需要根据硬件和实际需求进行调整。