一块tb6612与stm32f103控制四块电机代码

下面是一个使用TB6612驱动器和STM32F103控制四个电机的示例代码：

首先，需要定义引脚的映射关系和一些常量：

// 引脚映射关系
#define MOTOR1_A_PIN  GPIO_Pin_0
#define MOTOR1_B_PIN  GPIO_Pin_1
#define MOTOR1_PWM_PIN  GPIO_Pin_2

#define MOTOR2_A_PIN  GPIO_Pin_3
#define MOTOR2_B_PIN  GPIO_Pin_4
#define MOTOR2_PWM_PIN  GPIO_Pin_5

#define MOTOR3_A_PIN  GPIO_Pin_6
#define MOTOR3_B_PIN  GPIO_Pin_7
#define MOTOR3_PWM_PIN  GPIO_Pin_8

#define MOTOR4_A_PIN  GPIO_Pin_9
#define MOTOR4_B_PIN  GPIO_Pin_10
#define MOTOR4_PWM_PIN  GPIO_Pin_11

// PWM 频率
#define PWM_FREQUENCY  20000

// PWM 定时器通道
#define PWM_TIMER_CHANNEL  TIM_OCMode_PWM1

然后，初始化引脚和PWM定时器：

void Motor_Init() {
    // 初始化引脚为输出模式
    GPIO_InitTypeDef GPIO_InitStructure;

    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;

    // 初始化电机1引脚
    GPIO_InitStructure.GPIO_Pin = MOTOR1_A_PIN | MOTOR1_B_PIN;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    // 初始化电机2引脚
    GPIO_InitStructure.GPIO_Pin = MOTOR2_A_PIN | MOTOR2_B_PIN;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    // 初始化电机3引脚
    GPIO_InitStructure.GPIO_Pin = MOTOR3_A_PIN | MOTOR3_B_PIN;
    GPIO_Init(GPIOB, &GPIO_InitStructure);
    // 初始化电机4引脚
    GPIO_InitStructure.GPIO_Pin = MOTOR4_A_PIN | MOTOR4_B_PIN;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    // 初始化PWM定时器
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    TIM_TimeBaseStructure.TIM_Prescaler = (72 - 1);
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_Period = (1000000 / PWM_FREQUENCY - 1);
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    TIM_OCInitStructure.TIM_OCMode = PWM_TIMER_CHANNEL;
    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);

    TIM_OC3Init(TIM2, &TIM_OCInitStructure);
    TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);

    TIM_OC4Init(TIM2, &TIM_OCInitStructure);
    TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);

    TIM_ARRPreloadConfig(TIM2, ENABLE);
    TIM_Cmd(TIM2, ENABLE);
}

接下来，编写一个函数来控制电机的转动方向和速度：

void Motor_SetSpeed(uint8_t motor, int16_t speed) {
    if (speed >= 0) {
        switch (motor) {
            case 1:
                GPIO_ResetBits(GPIOA, MOTOR1_A_PIN);
                GPIO_SetBits(GPIOA, MOTOR1_B_PIN);
                TIM_SetCompare1(TIM2, speed);
                break;
            case 2:
                GPIO_ResetBits(GPIOA, MOTOR2_A_PIN);
                GPIO_SetBits(GPIOA, MOTOR2_B_PIN);
                TIM_SetCompare2(TIM2, speed);
                break;
            case 3:
                GPIO_ResetBits(GPIOB, MOTOR3_A_PIN);
                GPIO_SetBits(GPIOB, MOTOR3_B_PIN);
                TIM_SetCompare3(TIM2, speed);
                break;
            case 4:
                GPIO_ResetBits(GPIOB, MOTOR4_A_PIN);
                GPIO_SetBits(GPIOB, MOTOR4_B_PIN);
                TIM_SetCompare4(TIM2, speed);
                break;
        }
    } else {
        switch (motor) {
            case 1:
                GPIO_SetBits(GPIOA, MOTOR1_A_PIN);
                GPIO_ResetBits(GPIOA, MOTOR1_B_PIN);
                TIM_SetCompare1(TIM2, -speed);
                break;
            case 2:
                GPIO_SetBits(GPIOA, MOTOR2_A_PIN);
                GPIO_ResetBits(GPIOA, MOTOR2_B_PIN);
                TIM_SetCompare2(TIM2, -speed);
                break;
            case 3:
                GPIO_SetBits(GPIOB, MOTOR3_A_PIN);
                GPIO_ResetBits(GPIOB, MOTOR3_B_PIN);
                TIM_SetCompare3(TIM2, -speed);
                break;
            case 4:
                GPIO_SetBits(GPIOB, MOTOR4_A_PIN);
                GPIO_ResetBits(GPIOB, MOTOR4_B_PIN);
                TIM_SetCompare4(TIM2, -speed);
                break;
        }
    }
}

最后，在 `main` 函数中调用上述函数来控制电机：

int main(void) {
    Motor_Init();

    while (1) {
        // 控制电机1正转，速度为50%
        Motor_SetSpeed(1, 500);
        // 控制电机2反转，速度为75%
        Motor_SetSpeed(2, -750);
        // 控制电机3正转，速度为100%
        Motor_SetSpeed(3, 1000);
        // 控制电机4反转，速度为25%
        Motor_SetSpeed(4, -250);
    }
}

以上代码是一个简单的示例，你可以根据实际需求进行修改和扩展。请确保你在使用之前正确配置了引脚和定时器。