STM32智能小车基于库函数程序电机配置c++

以下是一个基于库函数的 STM32 智能小车电机配置的 C++ 程序示例：

#include "stm32f10x.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_tim.h"

// 定义电机控制引脚
#define MOTOR1_PIN1 GPIO_Pin_0
#define MOTOR1_PIN2 GPIO_Pin_1
#define MOTOR2_PIN1 GPIO_Pin_2
#define MOTOR2_PIN2 GPIO_Pin_3

// 定义电机控制时钟
#define MOTOR_CLOCK RCC_APB2Periph_GPIOA

// 定义PWM计数器计数周期
#define PWM_PERIOD 1000

// 初始化GPIO和PWM
void Motor_Init() {
  GPIO_InitTypeDef GPIO_InitStructure;
  TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
  TIM_OCInitTypeDef TIM_OCInitStructure;

  // 使能GPIO和TIM时钟
  RCC_APB2PeriphClockCmd(MOTOR_CLOCK | RCC_APB2Periph_AFIO, ENABLE);
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

  // 配置GPIO为推挽输出
  GPIO_InitStructure.GPIO_Pin = MOTOR1_PIN1 | MOTOR1_PIN2 | MOTOR2_PIN1 | MOTOR2_PIN2;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  // 配置TIM为PWM模式
  TIM_TimeBaseStructure.TIM_Period = PWM_PERIOD - 1;
  TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

  // 配置TIM通道1为PWM输出模式
  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_Pulse = 0;
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
  TIM_OC1Init(TIM3, &TIM_OCInitStructure);

  // 配置TIM通道2为PWM输出模式
  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_Pulse = 0;
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
  TIM_OC2Init(TIM3, &TIM_OCInitStructure);

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

// 控制电机1正转
void Motor1_Forward(int speed) {
  GPIO_SetBits(GPIOA, MOTOR1_PIN1);
  GPIO_ResetBits(GPIOA, MOTOR1_PIN2);
  TIM_SetCompare1(TIM3, speed);
}

// 控制电机1反转
void Motor1_Backward(int speed) {
  GPIO_ResetBits(GPIOA, MOTOR1_PIN1);
  GPIO_SetBits(GPIOA, MOTOR1_PIN2);
  TIM_SetCompare1(TIM3, speed);
}

// 控制电机1停止
void Motor1_Stop() {
  GPIO_ResetBits(GPIOA, MOTOR1_PIN1);
  GPIO_ResetBits(GPIOA, MOTOR1_PIN2);
  TIM_SetCompare1(TIM3, 0);
}

// 控制电机2正转
void Motor2_Forward(int speed) {
  GPIO_SetBits(GPIOA, MOTOR2_PIN1);
  GPIO_ResetBits(GPIOA, MOTOR2_PIN2);
  TIM_SetCompare2(TIM3, speed);
}

// 控制电机2反转
void Motor2_Backward(int speed) {
  GPIO_ResetBits(GPIOA, MOTOR2_PIN1);
  GPIO_SetBits(GPIOA, MOTOR2_PIN2);
  TIM_SetCompare2(TIM3, speed);
}

// 控制电机2停止
void Motor2_Stop() {
  GPIO_ResetBits(GPIOA, MOTOR2_PIN1);
  GPIO_ResetBits(GPIOA, MOTOR2_PIN2);
  TIM_SetCompare2(TIM3, 0);
}

在上面的示例中，我们使用了 STM32 的库函数来初始化 GPIO 和 PWM，并定义了一些简单的函数来控制电机的运动方向和速度。使用这些函数，我们可以轻松地控制智能小车的运动。