stm32单片机如何控制四轮驱动麦克纳姆轮小车

控制四轮驱动麦克纳姆轮小车需要用到PWM信号控制电机的转速和方向，同时还需要使用编码器实时反馈电机的转速和位置，以便精确控制小车的运动。

以下是一个简单的控制程序示例，可以供参考：

1. 首先定义各个电机的控制引脚和编码器引脚：

#define PWM_TIM TIM3
#define PWM_CH1 GPIO_Pin_6
#define PWM_CH2 GPIO_Pin_7
#define PWM_CH3 GPIO_Pin_8
#define PWM_CH4 GPIO_Pin_9

#define ENCODER_TIM TIM4
#define ENCODER_CH1 GPIO_Pin_6
#define ENCODER_CH2 GPIO_Pin_7
#define ENCODER_CH3 GPIO_Pin_8
#define ENCODER_CH4 GPIO_Pin_9

2. 初始化PWM信号和编码器：

void PWM_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
    TIM_OCInitTypeDef TIM_OCInitStruct;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);

    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;

    GPIO_InitStructure.GPIO_Pin = PWM_CH1 | PWM_CH2 | PWM_CH3 | PWM_CH4;
    GPIO_Init(GPIOC, &GPIO_InitStructure);

    GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_TIM3);
    GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_TIM3);
    GPIO_PinAFConfig(GPIOC, GPIO_PinSource8, GPIO_AF_TIM3);
    GPIO_PinAFConfig(GPIOC, GPIO_PinSource9, GPIO_AF_TIM3);

    TIM_TimeBaseInitStruct.TIM_Prescaler = 0;
    TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInitStruct.TIM_Period = 3999;
    TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(PWM_TIM, &TIM_TimeBaseInitStruct);

    TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStruct.TIM_Pulse = 0;
    TIM_OC1Init(PWM_TIM, &TIM_OCInitStruct);
    TIM_OC2Init(PWM_TIM, &TIM_OCInitStruct);
    TIM_OC3Init(PWM_TIM, &TIM_OCInitStruct);
    TIM_OC4Init(PWM_TIM, &TIM_OCInitStruct);

    TIM_Cmd(PWM_TIM, ENABLE);
}

void Encoder_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
    TIM_ICInitTypeDef TIM_ICInitStruct;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;

    GPIO_InitStructure.GPIO_Pin = ENCODER_CH1 | ENCODER_CH2 | ENCODER_CH3 | ENCODER_CH4;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM4);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM4);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_TIM4);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_TIM4);

    TIM_TimeBaseInitStruct.TIM_Prescaler = 0;
    TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInitStruct.TIM_Period = 65535;
    TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(ENCODER_TIM, &TIM_TimeBaseInitStruct);

    TIM_ICInitStruct.TIM_Channel = TIM_Channel_1;
    TIM_ICInitStruct.TIM_ICPolarity = TIM_ICPolarity_Rising;
    TIM_ICInitStruct.TIM_ICSelection = TIM_ICSelection_DirectTI;
    TIM_ICInitStruct.TIM_ICPrescaler = TIM_ICPSC_DIV1;
    TIM_ICInitStruct.TIM_ICFilter = 0;
    TIM_ICInit(ENCODER_TIM, &TIM_ICInitStruct);

    TIM_ICInitStruct.TIM_Channel = TIM_Channel_2;
    TIM_ICInitStruct.TIM_ICPolarity = TIM_ICPolarity_Rising;
    TIM_ICInitStruct.TIM_ICSelection = TIM_ICSelection_DirectTI;
    TIM_ICInitStruct.TIM_ICPrescaler = TIM_ICPSC_DIV1;
    TIM_ICInitStruct.TIM_ICFilter = 0;
    TIM_ICInit(ENCODER_TIM, &TIM_ICInitStruct);

    TIM_ICInitStruct.TIM_Channel = TIM_Channel_3;
    TIM_ICInitStruct.TIM_ICPolarity = TIM_ICPolarity_Rising;
    TIM_ICInitStruct.TIM_ICSelection = TIM_ICSelection_DirectTI;
    TIM_ICInitStruct.TIM_ICPrescaler = TIM_ICPSC_DIV1;
    TIM_ICInitStruct.TIM_ICFilter = 0;
    TIM_ICInit(ENCODER_TIM, &TIM_ICInitStruct);

    TIM_ICInitStruct.TIM_Channel = TIM_Channel_4;
    TIM_ICInitStruct.TIM_ICPolarity = TIM_ICPolarity_Rising;
    TIM_ICInitStruct.TIM_ICSelection = TIM_ICSelection_DirectTI;
    TIM_ICInitStruct.TIM_ICPrescaler = TIM_ICPSC_DIV1;
    TIM_ICInitStruct.TIM_ICFilter = 0;
    TIM_ICInit(ENCODER_TIM, &TIM_ICInitStruct);

    TIM_EncoderInterfaceConfig(ENCODER_TIM, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
    TIM_SetCounter(ENCODER_TIM, 0);

    TIM_Cmd(ENCODER_TIM, ENABLE);
}

3. 编写PWM控制函数：

void SetPWM(uint16_t ch1, uint16_t ch2, uint16_t ch3, uint16_t ch4)
{
    TIM_SetCompare1(PWM_TIM, ch1);
    TIM_SetCompare2(PWM_TIM, ch2);
    TIM_SetCompare3(PWM_TIM, ch3);
    TIM_SetCompare4(PWM_TIM, ch4);
}

4. 编写电机控制函数：

void SetMotorSpeed(int16_t speed1, int16_t speed2, int16_t speed3, int16_t speed4)
{
    uint16_t pwm1, pwm2, pwm3, pwm4;

    pwm1 = abs(speed1);
    pwm2 = abs(speed2);
    pwm3 = abs(speed3);
    pwm4 = abs(speed4);

    if (speed1 >= 0)
    {
        GPIO_SetBits(GPIOC, GPIO_Pin_0);
        GPIO_ResetBits(GPIOC, GPIO_Pin_1);
    }
    else
    {
        GPIO_ResetBits(GPIOC, GPIO_Pin_0);
        GPIO_SetBits(GPIOC, GPIO_Pin_1);
    }

    if (speed2 >= 0)
    {
        GPIO_SetBits(GPIOC, GPIO_Pin_2);
        GPIO_ResetBits(GPIOC, GPIO_Pin_3);
    }
    else
    {
        GPIO_ResetBits(GPIOC, GPIO_Pin_2);
        GPIO_SetBits(GPIOC, GPIO_Pin_3);
    }

    if (speed3 >= 0)
    {
        GPIO_SetBits(GPIOC, GPIO_Pin_4);
        GPIO_ResetBits(GPIOC, GPIO_Pin_5);
    }
    else
    {
        GPIO_ResetBits(GPIOC, GPIO_Pin_4);
        GPIO_SetBits(GPIOC, GPIO_Pin_5);
    }

    if (speed4 >= 0)
    {
        GPIO_SetBits(GPIOC, GPIO_Pin_6);
        GPIO_ResetBits(GPIOC, GPIO_Pin_7);
    }
    else
    {
        GPIO_ResetBits(GPIOC, GPIO_Pin_6);
        GPIO_SetBits(GPIOC, GPIO_Pin_7);
    }

    SetPWM(pwm1, pwm2, pwm3, pwm4);
}

5. 编写控制程序，通过串口接收控制指令并控制小车运动：

int main(void)
{
    // 初始化各个引脚和模块
    PWM_Init();
    Encoder_Init();
    USART_Init();

    int16_t vx, vy, vw;
    int16_t speed1, speed2, speed3, speed4;

    while (1)
    {
        // 从串口接收控制指令
        USART_Receive(&vx, &vy, &vw);

        // 计算电机转速
        speed1 = vx - vy - vw;
        speed2 = vx + vy + vw;
        speed3 = vx + vy - vw;
        speed4 = vx - vy + vw;

        // 控制电机
        SetMotorSpeed(speed1, speed2, speed3, speed4);
    }
}

以上是一个简单的控制程序示例，实际应用中还需要根据实际情况进行调整和完善。