TIM_SetCompare3(TIM2,OUTPUT1)

TIM_SetCompare3函数是用于设置TIM2定时器的通道3的比较值的方法。它的作用是设置定时器通道3的比较值，以控制输出信号的占空比。在这个函数中，第一个参数TIM2表示要操作的定时器，第二个参数OUTPUT1表示要设置的通道号。通过调用这个函数并传入相应的参数，可以实现对TIM2定时器通道3的比较值进行设置。

相关问题

三个红外对射传感器的数字输出端口分别连接到PA11、PA12、PA13，三个舵机的信号线分别连接在PB11、PB12、PB13，使用C语言使STM32F103C8系列单片机实现当红外对射传感器检测到前方有物体时控制舵机旋转90度

可以使用以下代码实现：

#include "stm32f10x.h"

int main(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    // Enable GPIOA and GPIOB clocks
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE);

    // Configure PA11, PA12, and PA13 as input pins
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12 | GPIO_Pin_13;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    // Configure PB11, PB12, and PB13 as output pins
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12 | GPIO_Pin_13;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    // Enable TIM2 clock
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    // Configure TIM2 to generate PWM signals
    TIM_TimeBaseStructure.TIM_Period = 20000 - 1; // 20ms period
    TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1; // 1us resolution
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    // Configure TIM2 channel 4 to generate PWM signal for PB11
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 1500; // 1.5ms pulse width (centered)
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC4Init(TIM2, &TIM_OCInitStructure);
    TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);

    // Configure TIM2 channel 3 to generate PWM signal for PB12
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 1500; // 1.5ms pulse width (centered)
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC3Init(TIM2, &TIM_OCInitStructure);
    TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);

    // Configure TIM2 channel 2 to generate PWM signal for PB13
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 1500; // 1.5ms pulse width (centered)
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC2Init(TIM2, &TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);

    // Start TIM2
    TIM_Cmd(TIM2, ENABLE);

    while (1)
    {
        // Check if all three infrared sensors detect an object
        if (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_11) &&
            GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_12) &&
            GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_13))
        {
            // Rotate all three servos 90 degrees
            TIM_SetCompare4(TIM2, 2250); // PB11
            TIM_SetCompare3(TIM2, 2250); // PB12
            TIM_SetCompare2(TIM2, 2250); // PB13
        }
        else
        {
            // Reset all three servos to center position
            TIM_SetCompare4(TIM2, 1500); // PB11
            TIM_SetCompare3(TIM2, 1500); // PB12
            TIM_SetCompare2(TIM2, 1500); // PB13
        }
    }
}

基于stm32f103的平衡小车的代码

基于STM32F103的平衡小车代码比较复杂，需要设计控制算法、传感器采集、电机控制等多个方面。不过，我可以提供一些基本的代码框架供您参考：

1. 初始化代码

// 初始化电机PWM输出
void motor_init(void)
{
    // 将TIM2的CH1和CH2映射到GPIOA的PA0和PA1引脚
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    // 初始化TIM2
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_TimeBaseStructure.TIM_Period = 999;
    TIM_TimeBaseStructure.TIM_Prescaler = 71;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    // 初始化TIM2的CH1和CH2输出比较
    TIM_OCInitTypeDef TIM_OCInitStructure;
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OC1Init(TIM2, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
    TIM_OC2Init(TIM2, &TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);

    // 启动TIM2
    TIM_Cmd(TIM2, ENABLE);
}

// 初始化编码器
void encoder_init(void)
{
    // 初始化编码器输入引脚
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    // 初始化TIM3
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

    // 初始化TIM3的编码器输入模式
    TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
    TIM_SetCounter(TIM3, 0);

    // 启动TIM3
    TIM_Cmd(TIM3, ENABLE);
}

// 初始化ADC采样
void adc_init(void)
{
    // 初始化ADC输入引脚
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    // 初始化ADC
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
    ADC_InitTypeDef ADC_InitStructure;
    ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
    ADC_InitStructure.ADC_ScanConvMode = DISABLE;
    ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
    ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
    ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
    ADC_InitStructure.ADC_NbrOfChannel = 1;
    ADC_Init(ADC1, &ADC_InitStructure);

    // 配置ADC采样通道
    ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_239Cycles5);

    // 启动ADC
    ADC_Cmd(ADC1, ENABLE);

    // 启动ADC校准
    ADC_ResetCalibration(ADC1);
    while(ADC_GetResetCalibrationStatus(ADC1));
    ADC_StartCalibration(ADC1);
    while(ADC_GetCalibrationStatus(ADC1));
}

2. 控制算法代码

// 计算并返回平衡小车的控制输出
int16_t balance_control(void)
{
    // 读取编码器计数器的值
    int16_t encoder_count = TIM_GetCounter(TIM3);

    // 计算轮子转速
    float speed = (float)encoder_count / 100.0f;

    // 计算小车倾角
    int16_t angle = get_angle();

    // 计算控制输出
    int16_t output = Kp * angle + Kd * (angle - last_angle) + Ki * angle_sum;

    // 更新上一次的倾角和倾角积分
    last_angle = angle;
    angle_sum += angle;

    return output;
}

3. 电机控制代码

// 控制小车前进或后退
void forward_backward(int16_t speed)
{
    if(speed > 0)
    {
        // 前进
        TIM_SetCompare1(TIM2, speed);
        TIM_SetCompare2(TIM2, 0);
    }
    else if(speed < 0)
    {
        // 后退
        TIM_SetCompare1(TIM2, 0);
        TIM_SetCompare2(TIM2, -speed);
    }
    else
    {
        // 停止
        TIM_SetCompare1(TIM2, 0);
        TIM_SetCompare2(TIM2, 0);
    }
}

// 控制小车左右转向
void turn_left_right(int16_t speed)
{
    if(speed > 0)
    {
        // 左转
        TIM_SetCompare1(TIM2, 0);
        TIM_SetCompare2(TIM2, speed);
    }
    else if(speed < 0)
    {
        // 右转
        TIM_SetCompare1(TIM2, -speed);
        TIM_SetCompare2(TIM2, 0);
    }
    else
    {
        // 直行
        TIM_SetCompare1(TIM2, 0);
        TIM_SetCompare2(TIM2, 0);
    }
}

以上是基于STM32F103的平衡小车的一些基础代码框架，具体的实现需要根据具体的硬件和控制算法进行调整。