STM32 避障小车 |
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STM32 避障小车
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本文介绍制作过程中用到的 L298N 模块 模块介绍大家拿到模块后可以看到该模块有许多接口，下面介绍下各接口的作用。 
表格出处 采用 PWM 调整占空比来调整电机的转动速度，注意一定要给足够的电压！ 与单片机连接我们使用 TIM3 来输出 PWM，故将 IN1 - IN4 连接到 TIM3_CH1 - CH4 控制电机转动。 IN1 -> PA6 IN2 -> PA7 IN3 -> PB0 IN4 -> PB1 程序部分简易测试程序，可用以测试驱动板是否正常工作 void car_go(void); void car_left(void); int main() { GPIO_InitTypeDef GPIO_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOA,ENABLE);//使能GPIO的外设时钟 GPIO_InitStructure.GPIO_Pin =GPIO_Pin_6|GPIO_Pin_7;//选择要用的GPIO引脚 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //设置引脚模式为推免输出模式 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//设置引脚速度为50MHZ GPIO_Init(GPIOA,&GPIO_InitStructure);//调用库函数，初始化GPIO GPIO_InitStructure.GPIO_Pin =GPIO_Pin_0|GPIO_Pin_1;//选择要用的GPIO引脚 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //设置引脚模式为推免输出模式 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//设置引脚速度为50MHZ GPIO_Init(GPIOB,&GPIO_InitStructure);//调用库函数，初始化GPIO car_go();//前进 } void car_go(void) { //前进 GPIO_SetBits(GPIOA,GPIO_Pin_6); //控制左边轮胎 GPIO_ResetBits(GPIOA,GPIO_Pin_7); GPIO_SetBits(GPIOB,GPIO_Pin_0); //控制右边轮胎 GPIO_ResetBits(GPIOB,GPIO_Pin_1); } void car_left(void) { //左转 GPIO_SetBits(GPIOA,GPIO_Pin_6); //控制左边轮胎 GPIO_ResetBits(GPIOA,GPIO_Pin_7); GPIO_ResetBits(GPIOB,GPIO_Pin_0); //控制右边轮胎 GPIO_SetBits(GPIOB,GPIO_Pin_1); }正式程序，PWM 调速控制 L298N.h #ifndef __L298N_H #define __L298N_H #include void TIM3_PWM_Init(void); void Go_Forward(void); void Go_Back(void); void Stop(void); void Turn_Left(void); void Turn_Right(void); #endif /*__L298N_H*/L298N.c #include void TIM3_PWM_Init(void) { GPIO_InitTypeDef GPIO_InitStructer; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructer; TIM_OCInitTypeDef TIM_OCInitStructer; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE); //初始化TIM3 TIM_TimeBaseStructer.TIM_Period = 899; TIM_TimeBaseStructer.TIM_Prescaler = 0; TIM_TimeBaseStructer.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseStructer.TIM_ClockDivision = 0; TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructer); //初始化GPIOA6/GPIOA7 (TIM3_CH1/TIM3_CH2) GPIO_InitStructer.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; GPIO_InitStructer.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructer.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_Init(GPIOA, &GPIO_InitStructer); //初始化GPIOB0/GPIOB1 (TIM3_CH3/TIM3_CH4) GPIO_InitStructer.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1; GPIO_InitStructer.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructer.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_Init(GPIOB, &GPIO_InitStructer); //PWM通道一 TIM_OCInitStructer.TIM_OCMode = TIM_OCMode_PWM2; TIM_OCInitStructer.TIM_OutputState = TIM_OutputState_Enable; /*比较输出使能，决定信号是否通过外部引脚输出。value：0(Disable)、1(Enable)。*/ TIM_OCInitStructer.TIM_OCPolarity = TIM_OCPolarity_High; /*比较输出极性，决定定时器通道有效电平的极性。*/ TIM_OCInitStructer.TIM_Pulse = 900; TIM_OC1Init(TIM3, &TIM_OCInitStructer); //Enables or disables the TIMx peripheral Preload register on CCR1. TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); //PWM通道二 TIM_OCInitStructer.TIM_OCMode = TIM_OCMode_PWM2; TIM_OCInitStructer.TIM_OutputState = TIM_OutputState_Enable; /*比较输出使能，决定信号是否通过外部引脚输出。value：0(Disable)、1(Enable)。*/ TIM_OCInitStructer.TIM_OCPolarity = TIM_OCPolarity_High; /*比较输出极性，决定定时器通道有效电平的极性。*/ TIM_OCInitStructer.TIM_Pulse = 900; TIM_OC2Init(TIM3, &TIM_OCInitStructer); TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); //PWM通道三 TIM_OCInitStructer.TIM_OCMode = TIM_OCMode_PWM2; TIM_OCInitStructer.TIM_OutputState = TIM_OutputState_Enable; /*比较输出使能，决定信号是否通过外部引脚输出。value：0(Disable)、1(Enable)。*/ TIM_OCInitStructer.TIM_OCPolarity = TIM_OCPolarity_High; /*比较输出极性，决定定时器通道有效电平的极性。*/ TIM_OCInitStructer.TIM_Pulse = 900; TIM_OC3Init(TIM3, &TIM_OCInitStructer); TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable); //PWM通道四 TIM_OCInitStructer.TIM_OCMode = TIM_OCMode_PWM2; TIM_OCInitStructer.TIM_OutputState = TIM_OutputState_Enable; /*比较输出使能，决定信号是否通过外部引脚输出。value：0(Disable)、1(Enable)。*/ TIM_OCInitStructer.TIM_OCPolarity = TIM_OCPolarity_High; /*比较输出极性，决定定时器通道有效电平的极性。*/ TIM_OCInitStructer.TIM_Pulse = 900; TIM_OC4Init(TIM3, &TIM_OCInitStructer); TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable); TIM_Cmd(TIM3, ENABLE); } //前进 void Go_Forward(void) { //Sets the TIMx Capture Compare1 Register value TIM_SetCompare1(TIM3, 400); TIM_SetCompare2(TIM3, 900); TIM_SetCompare3(TIM3, 400); TIM_SetCompare4(TIM3, 900); } //停止 void Stop(void) { TIM_SetCompare1(TIM3, 900); TIM_SetCompare2(TIM3, 900); TIM_SetCompare3(TIM3, 900); TIM_SetCompare4(TIM3, 900); } //后退 void Go_Back(void) { TIM_SetCompare1(TIM3, 900); TIM_SetCompare2(TIM3, 400); TIM_SetCompare3(TIM3, 900); TIM_SetCompare4(TIM3, 400); } //左转 void Turn_Left(void) { TIM_SetCompare1(TIM3, 900); TIM_SetCompare2(TIM3, 300); TIM_SetCompare3(TIM3, 300); TIM_SetCompare4(TIM3, 900); } //右转 void Turn_Right(void) { TIM_SetCompare1(TIM3, 300); TIM_SetCompare2(TIM3, 900); TIM_SetCompare3(TIM3, 900); TIM_SetCompare4(TIM3, 300); } 文章相关上一篇：STM32 避障小车 —— 前期准备 下一篇：STM32 避障小车 —— HC-SR04 |
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