基于rt1064单片机的麦轮控制代码
时间: 2023-11-26 13:03:07 浏览: 82
下面是一份基于rt1064单片机的麦轮控制代码,供参考:
```c
#include "fsl_common.h"
#include "fsl_gpio.h"
#include "fsl_pwm.h"
// 定义麦轮的PWM信号输出引脚
#define PWM_M1_PIN 22U
#define PWM_M2_PIN 23U
#define PWM_M3_PIN 24U
#define PWM_M4_PIN 25U
// 定义麦轮的方向控制引脚
#define DIR_M1_PIN 26U
#define DIR_M2_PIN 27U
#define DIR_M3_PIN 28U
#define DIR_M4_PIN 29U
// 定义PWM模块和通道号
#define PWM_MODULE PWM2
#define PWM_M1_CH 0U
#define PWM_M2_CH 1U
#define PWM_M3_CH 2U
#define PWM_M4_CH 3U
// 定义麦轮的最大速度值
#define MAX_SPEED 100
// 初始化函数
void wheel_init(void) {
// 初始化PWM模块
pwm_config_t pwmConfig;
PWM_GetDefaultConfig(&pwmConfig);
PWM_Init(PWM_MODULE, &pwmConfig);
PWM_SetupPwm(PWM_MODULE, PWM_M1_CH, 10000, 0, kPWM_EdgeAlignedPwm, 10000);
PWM_SetupPwm(PWM_MODULE, PWM_M2_CH, 10000, 0, kPWM_EdgeAlignedPwm, 10000);
PWM_SetupPwm(PWM_MODULE, PWM_M3_CH, 10000, 0, kPWM_EdgeAlignedPwm, 10000);
PWM_SetupPwm(PWM_MODULE, PWM_M4_CH, 10000, 0, kPWM_EdgeAlignedPwm, 10000);
PWM_StartTimer(PWM_MODULE);
// 初始化方向控制引脚
gpio_pin_config_t dirConfig = {
.direction = kGPIO_DigitalOutput,
.outputLogic = 0,
};
GPIO_PinInit(GPIO, DIR_M1_PIN, &dirConfig);
GPIO_PinInit(GPIO, DIR_M2_PIN, &dirConfig);
GPIO_PinInit(GPIO, DIR_M3_PIN, &dirConfig);
GPIO_PinInit(GPIO, DIR_M4_PIN, &dirConfig);
}
// 设置麦轮的速度和方向
void wheel_set_speed(int m1_speed, int m2_speed, int m3_speed, int m4_speed) {
// 将速度限制在[-MAX_SPEED, MAX_SPEED]范围内
m1_speed = m1_speed > MAX_SPEED ? MAX_SPEED : m1_speed;
m1_speed = m1_speed < -MAX_SPEED ? -MAX_SPEED : m1_speed;
m2_speed = m2_speed > MAX_SPEED ? MAX_SPEED : m2_speed;
m2_speed = m2_speed < -MAX_SPEED ? -MAX_SPEED : m2_speed;
m3_speed = m3_speed > MAX_SPEED ? MAX_SPEED : m3_speed;
m3_speed = m3_speed < -MAX_SPEED ? -MAX_SPEED : m3_speed;
m4_speed = m4_speed > MAX_SPEED ? MAX_SPEED : m4_speed;
m4_speed = m4_speed < -MAX_SPEED ? -MAX_SPEED : m4_speed;
// 设置PWM信号的占空比
PWM_UpdatePwmDutycycle(PWM_MODULE, PWM_M1_CH, kPWM_EdgeAligned, abs(m1_speed));
PWM_UpdatePwmDutycycle(PWM_MODULE, PWM_M2_CH, kPWM_EdgeAligned, abs(m2_speed));
PWM_UpdatePwmDutycycle(PWM_MODULE, PWM_M3_CH, kPWM_EdgeAligned, abs(m3_speed));
PWM_UpdatePwmDutycycle(PWM_MODULE, PWM_M4_CH, kPWM_EdgeAligned, abs(m4_speed));
// 设置方向控制引脚的电平
GPIO_WritePinOutput(GPIO, DIR_M1_PIN, m1_speed >= 0 ? 0 : 1);
GPIO_WritePinOutput(GPIO, DIR_M2_PIN, m2_speed >= 0 ? 0 : 1);
GPIO_WritePinOutput(GPIO, DIR_M3_PIN, m3_speed >= 0 ? 0 : 1);
GPIO_WritePinOutput(GPIO, DIR_M4_PIN, m4_speed >= 0 ? 0 : 1);
}
// 停止麦轮
void wheel_stop(void) {
PWM_UpdatePwmDutycycle(PWM_MODULE, PWM_M1_CH, kPWM_EdgeAligned, 0);
PWM_UpdatePwmDutycycle(PWM_MODULE, PWM_M2_CH, kPWM_EdgeAligned, 0);
PWM_UpdatePwmDutycycle(PWM_MODULE, PWM_M3_CH, kPWM_EdgeAligned, 0);
PWM_UpdatePwmDutycycle(PWM_MODULE, PWM_M4_CH, kPWM_EdgeAligned, 0);
}
```
这份代码通过PWM信号控制麦轮的速度,并通过方向控制引脚控制麦轮的方向。同时,代码中还提供了初始化函数和停止函数,方便使用者进行初始化和停止麦轮。
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