基于stm32f103的平衡小车的代码
时间: 2023-09-09 16:13:42 浏览: 62
基于STM32F103的平衡小车代码比较复杂,需要设计控制算法、传感器采集、电机控制等多个方面。不过,我可以提供一些基本的代码框架供您参考:
1. 初始化代码
```c
// 初始化电机PWM输出
void motor_init(void)
{
// 将TIM2的CH1和CH2映射到GPIOA的PA0和PA1引脚
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// 初始化TIM2
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 999;
TIM_TimeBaseStructure.TIM_Prescaler = 71;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
// 初始化TIM2的CH1和CH2输出比较
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
// 启动TIM2
TIM_Cmd(TIM2, ENABLE);
}
// 初始化编码器
void encoder_init(void)
{
// 初始化编码器输入引脚
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// 初始化TIM3
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
// 初始化TIM3的编码器输入模式
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_SetCounter(TIM3, 0);
// 启动TIM3
TIM_Cmd(TIM3, ENABLE);
}
// 初始化ADC采样
void adc_init(void)
{
// 初始化ADC输入引脚
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// 初始化ADC
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
ADC_InitTypeDef ADC_InitStructure;
ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_InitStructure.ADC_ScanConvMode = DISABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfChannel = 1;
ADC_Init(ADC1, &ADC_InitStructure);
// 配置ADC采样通道
ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_239Cycles5);
// 启动ADC
ADC_Cmd(ADC1, ENABLE);
// 启动ADC校准
ADC_ResetCalibration(ADC1);
while(ADC_GetResetCalibrationStatus(ADC1));
ADC_StartCalibration(ADC1);
while(ADC_GetCalibrationStatus(ADC1));
}
```
2. 控制算法代码
```c
// 计算并返回平衡小车的控制输出
int16_t balance_control(void)
{
// 读取编码器计数器的值
int16_t encoder_count = TIM_GetCounter(TIM3);
// 计算轮子转速
float speed = (float)encoder_count / 100.0f;
// 计算小车倾角
int16_t angle = get_angle();
// 计算控制输出
int16_t output = Kp * angle + Kd * (angle - last_angle) + Ki * angle_sum;
// 更新上一次的倾角和倾角积分
last_angle = angle;
angle_sum += angle;
return output;
}
```
3. 电机控制代码
```c
// 控制小车前进或后退
void forward_backward(int16_t speed)
{
if(speed > 0)
{
// 前进
TIM_SetCompare1(TIM2, speed);
TIM_SetCompare2(TIM2, 0);
}
else if(speed < 0)
{
// 后退
TIM_SetCompare1(TIM2, 0);
TIM_SetCompare2(TIM2, -speed);
}
else
{
// 停止
TIM_SetCompare1(TIM2, 0);
TIM_SetCompare2(TIM2, 0);
}
}
// 控制小车左右转向
void turn_left_right(int16_t speed)
{
if(speed > 0)
{
// 左转
TIM_SetCompare1(TIM2, 0);
TIM_SetCompare2(TIM2, speed);
}
else if(speed < 0)
{
// 右转
TIM_SetCompare1(TIM2, -speed);
TIM_SetCompare2(TIM2, 0);
}
else
{
// 直行
TIM_SetCompare1(TIM2, 0);
TIM_SetCompare2(TIM2, 0);
}
}
```
以上是基于STM32F103的平衡小车的一些基础代码框架,具体的实现需要根据具体的硬件和控制算法进行调整。
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