舵机与超声波模块结合hal
时间: 2023-08-11 16:04:36 浏览: 63
结合舵机和超声波模块,可以实现很多有趣的项目,比如自动避障小车、智能门禁系统等等。
使用HAL库编写代码,需要先初始化超声波模块和舵机的GPIO口和相关的时钟。然后,在主循环中使用HAL库提供的函数读取超声波模块的距离数据,并根据距离控制舵机的旋转角度。
下面是一个简单的示例代码:
```
#include "stm32f4xx_hal.h"
#include "stdio.h"
#define TRIG_PIN GPIO_PIN_0
#define TRIG_PORT GPIOA
#define ECHO_PIN GPIO_PIN_1
#define ECHO_PORT GPIOA
#define SERVO_PIN GPIO_PIN_2
#define SERVO_PORT GPIOA
TIM_HandleTypeDef htim2;
TIM_OC_InitTypeDef sConfigOC;
void SystemClock_Config(void);
void Error_Handler(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_TIM2_Init();
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
while (1)
{
// 发送超声波信号
HAL_GPIO_WritePin(TRIG_PORT, TRIG_PIN, GPIO_PIN_RESET);
HAL_Delay(2);
HAL_GPIO_WritePin(TRIG_PORT, TRIG_PIN, GPIO_PIN_SET);
HAL_Delay(10);
HAL_GPIO_WritePin(TRIG_PORT, TRIG_PIN, GPIO_PIN_RESET);
// 接收超声波信号
uint32_t start = HAL_GetTick();
while (HAL_GPIO_ReadPin(ECHO_PORT, ECHO_PIN) == GPIO_PIN_RESET)
{
if (HAL_GetTick() - start > 1000)
{
printf("超时\r\n");
break;
}
}
start = HAL_GetTick();
while (HAL_GPIO_ReadPin(ECHO_PORT, ECHO_PIN) == GPIO_PIN_SET)
{
if (HAL_GetTick() - start > 1000)
{
printf("超时\r\n");
break;
}
}
uint32_t end = HAL_GetTick();
float distance = (end - start) * 0.017;
// 控制舵机转动
if (distance > 30)
{
sConfigOC.Pulse = 800; // 90度
}
else if (distance > 20)
{
sConfigOC.Pulse = 600; // 60度
}
else if (distance > 10)
{
sConfigOC.Pulse = 400; // 30度
}
else
{
sConfigOC.Pulse = 200; // 0度
}
HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1);
HAL_Delay(50);
}
}
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
| RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
{
Error_Handler();
}
}
static void MX_TIM2_Init(void)