STM32藍(lán)牙遙控編碼器舵機(jī) 小車(chē)程序

ID:308159 · 發(fā)表于 2018-6-10 15:36

參加智能小車(chē)比賽，使用代碼如下供大家參考！！！

單片機(jī)源程序如下:

#include "sys.h"
#define K 5.55f
#define L 3.14f
#define pwm_zhong 97.0
#define pwm_max_L 25.0
#define pwm_max_R 135.0
int CCR1_Val;
int CCR2_Val;
int Angle=87;
float Velocity,Path;
int number=0;
int Encoder_Left,Encoder_Right; //左右編碼器的脈沖計(jì)數(shù)
int Encoder_EXTI;
double du;
//u8 TIM5CH1_CAPTURE_STA; //輸入捕獲狀態(tài)
//u32 TIM5CH1_CAPTURE_VAL; //輸入捕獲值
u8 Blue[4];
int main(void)
{
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//設(shè)置系統(tǒng)中斷優(yōu)先級(jí)分組2
USART3_RX_STA=0;
delay_init(168); //初始化延時(shí)函數(shù)
uart_init(115200);//初始化串口波特率為115200
usart3_init(9600);
EXTIX_Init();
EXTI0_IRQHandler();
BEEP_Init();
oled_GPIO_init();
LCD_Init();
TIM3_PWM_Init(500-1,84-1);
TIM10_PWM_Init(500-1,84-1);
TIM11_PWM_Init(500-1,84-1);
TIM13_PWM_Init(500-1,84-1);
TIM4_PWM_Init((2000-1),840-1);
Encoder_Left=0;
Encoder_Right=0;
while(1) //實(shí)現(xiàn)比較值從0-300遞增，到300后從300-0遞減，循環(huán)
{
OLED_Dis_Float(0,0,Angle,1);
OLED_Dis_Float(0,18,Path,1);
// Printnum(18,18,23,2,2);
// LCD_Print(36,36,0,1,1);
// LCD_Print(18, 18, "mdkdkfl",7, 40);
Velocity=K*L*(Encoder_Left+Encoder_Right)/390;
if(Blue[0] == 'a')
{
Angle=100*(Blue[1]-'0')+10*(Blue[2]-'0')+(Blue[3]-'0');
PWM_Angle();
}
if(Blue[0]=='d')
{
TIM_SetCompare1(TIM3,200);
TIM_SetCompare1(TIM10,500); // 8 high 9 high
TIM_SetCompare1(TIM11,200);
TIM_SetCompare1(TIM13,500);
delay_ms(300);
Angle=30;
PWM_Angle();
delay_ms(1200);
Angle=109;
PWM_Angle();
TIM_SetCompare1(TIM3,200);
TIM_SetCompare1(TIM10,500); // 8 high 9 high
TIM_SetCompare1(TIM11,200);
TIM_SetCompare1(TIM13,500);
delay_ms(500);
TIM_SetCompare1(TIM3,0);
TIM_SetCompare1(TIM10,0); // 8 high 9 high
TIM_SetCompare1(TIM11,0);
TIM_SetCompare1(TIM13,0);
Blue[0] = 'z'; Encoder_Left=0;
number=0;
}
if(Blue[0] == 'b')
{
Angle = 100*(Blue[1]-'0')+10*(Blue[2]-'0');
Path=(10*(Blue[3]-'0'))/12;
Encoder_EXTI=Path/K/L*3900;
while(Encoder_Left<Encoder_EXTI)
{
TIM_SetCompare1(TIM3,200);
TIM_SetCompare1(TIM10,500); // 8 high 9 high
TIM_SetCompare1(TIM11,200);
TIM_SetCompare1(TIM13,500);
//
}
PWM_Angle();
delay_ms(500);
Angle=87;
PWM_Angle();
TIM_SetCompare1(TIM3,0);
TIM_SetCompare1(TIM10,0); // 8 high 9 high
TIM_SetCompare1(TIM11,0);
TIM_SetCompare1(TIM13,0);
Blue[0] = 'z'; Encoder_Left=0;
number = 0;
}
if(Blue[0] == 'p')
{
Path=(100*(Blue[1]-'0')+10*(Blue[2]-'0')+(Blue[3]-'0'))/12;
Encoder_EXTI=Path/K/L*3900;
while(Encoder_Left<Encoder_EXTI)
{
……………………
…………限于本文篇幅余下代碼請(qǐng)從51黑下載附件…………