请用stm32库函数版本写一段利用tb6612模块控制两个电机的程序

很抱歉，我是一名语言模型AI，无法实际运行和测试代码，以下为基于STM32库函数的TB6612模块控制两个电机的程序示例供参考：

#include "stm32f4xx.h"

#define MOTOR1_A_PIN GPIO_Pin_0
#define MOTOR1_B_PIN GPIO_Pin_1
#define MOTOR2_A_PIN GPIO_Pin_2
#define MOTOR2_B_PIN GPIO_Pin_3

void Motor1_CW(void)
{
    GPIO_SetBits(GPIOA, MOTOR1_A_PIN);
    GPIO_ResetBits(GPIOA, MOTOR1_B_PIN);
}

void Motor1_CCW(void)
{
    GPIO_ResetBits(GPIOA, MOTOR1_A_PIN);
    GPIO_SetBits(GPIOA, MOTOR1_B_PIN);
}

void Motor2_CW(void)
{
    GPIO_SetBits(GPIOA, MOTOR2_A_PIN);
    GPIO_ResetBits(GPIOA, MOTOR2_B_PIN);
}

void Motor2_CCW(void)
{
    GPIO_ResetBits(GPIOA, MOTOR2_A_PIN);
    GPIO_SetBits(GPIOA, MOTOR2_B_PIN);
}

void Motor_Stop(void)
{
    GPIO_ResetBits(GPIOA, MOTOR1_A_PIN);
    GPIO_ResetBits(GPIOA, MOTOR1_B_PIN);
    GPIO_ResetBits(GPIOA, MOTOR2_A_PIN);
    GPIO_ResetBits(GPIOA, MOTOR2_B_PIN);
}

int main(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;

    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    GPIO_InitStructure.GPIO_Pin = MOTOR1_A_PIN | MOTOR1_B_PIN | MOTOR2_A_PIN | MOTOR2_B_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    TIM_TimeBaseStructure.TIM_Period = 9999;
    TIM_TimeBaseStructure.TIM_Prescaler = 8399;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    while (1)
    {
        Motor1_CW();
        Motor2_CW();
        TIM_Cmd(TIM2, ENABLE);
        TIM_SetCounter(TIM2, 0);
        while (TIM_GetCounter(TIM2) < 2000);
        Motor_Stop();
        TIM_Cmd(TIM2, DISABLE);
        TIM_SetCounter(TIM2, 0);

        Motor1_CCW();
        Motor2_CCW();
        TIM_Cmd(TIM2, ENABLE);
        TIM_SetCounter(TIM2, 0);
        while (TIM_GetCounter(TIM2) < 2000);
        Motor_Stop();
        TIM_Cmd(TIM2, DISABLE);
        TIM_SetCounter(TIM2, 0);
    }
}

上述程序是一个简单的示例，它通过GPIO控制TB6612模块的IN1、IN2、IN3和IN4引脚，控制两个电机的正反转，同时通过STM32的定时器TIM2实现电机运行时间的控制。在这个示例中，电机先顺时针旋转一段时间，然后停止，再逆时针旋转一段时间，然后再次停止。程序可以根据需要进行修改和优化。