stm32库函数版本tb6612控制两个电机

以下是使用STM32库函数控制两个电机的示例代码：

#include "stm32f10x.h"

#define MOTOR1_IN1_PIN  GPIO_Pin_0
#define MOTOR1_IN2_PIN  GPIO_Pin_1
#define MOTOR1_PWM_PIN  GPIO_Pin_6
#define MOTOR2_IN1_PIN  GPIO_Pin_2
#define MOTOR2_IN2_PIN  GPIO_Pin_3
#define MOTOR2_PWM_PIN  GPIO_Pin_7

void motor_init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    // Enable GPIO clocks
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE);

    // Configure motor control pins as outputs
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Pin = MOTOR1_IN1_PIN | MOTOR1_IN2_PIN | MOTOR2_IN1_PIN | MOTOR2_IN2_PIN;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    // Configure PWM pins as alternate function outputs
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Pin = MOTOR1_PWM_PIN | MOTOR2_PWM_PIN;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    // Enable TIM4 clock
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);

    // Configure TIM4 as PWM timer
    TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;   // 1 MHz PWM frequency
    TIM_TimeBaseStructure.TIM_Period = 1000 - 1;    // 1 kHz PWM frequency
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);

    // Configure PWM output channels
    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(TIM4, &TIM_OCInitStructure);
    TIM_OC2Init(TIM4, &TIM_OCInitStructure);

    // Enable TIM4 outputs
    TIM_CtrlPWMOutputs(TIM4, ENABLE);

    // Start TIM4 timer
    TIM_Cmd(TIM4, ENABLE);
}

void motor_set_speed(uint8_t motor, int16_t speed)
{
    uint16_t pwm_val = abs(speed);

    // Limit speed to maximum value
    if (pwm_val > 1000)
    {
        pwm_val = 1000;
    }

    // Set PWM output channels based on motor number and direction
    if (speed > 0)
    {
        if (motor == 1)
        {
            GPIO_SetBits(GPIOA, MOTOR1_IN1_PIN);
            GPIO_ResetBits(GPIOA, MOTOR1_IN2_PIN);
            TIM_SetCompare1(TIM4, pwm_val);
        }
        else if (motor == 2)
        {
            GPIO_SetBits(GPIOA, MOTOR2_IN1_PIN);
            GPIO_ResetBits(GPIOA, MOTOR2_IN2_PIN);
            TIM_SetCompare2(TIM4, pwm_val);
        }
    }
    else if (speed < 0)
    {
        if (motor == 1)
        {
            GPIO_ResetBits(GPIOA, MOTOR1_IN1_PIN);
            GPIO_SetBits(GPIOA, MOTOR1_IN2_PIN);
            TIM_SetCompare1(TIM4, pwm_val);
        }
        else if (motor == 2)
        {
            GPIO_ResetBits(GPIOA, MOTOR2_IN1_PIN);
            GPIO_SetBits(GPIOA, MOTOR2_IN2_PIN);
            TIM_SetCompare2(TIM4, pwm_val);
        }
    }
    else
    {
        if (motor == 1)
        {
            GPIO_ResetBits(GPIOA, MOTOR1_IN1_PIN);
            GPIO_ResetBits(GPIOA, MOTOR1_IN2_PIN);
            TIM_SetCompare1(TIM4, 0);
        }
        else if (motor == 2)
        {
            GPIO_ResetBits(GPIOA, MOTOR2_IN1_PIN);
            GPIO_ResetBits(GPIOA, MOTOR2_IN2_PIN);
            TIM_SetCompare2(TIM4, 0);
        }
    }
}

int main(void)
{
    motor_init();

    while (1)
    {
        // Set motor 1 to full speed forward
        motor_set_speed(1, 1000);

        // Set motor 2 to half speed reverse
        motor_set_speed(2, -500);
    }
}