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#include "motor.h"
#include "Math.h"
#include "delay.h"
#include "stm32f10x.h" // Device header
signed short sPWMR,sPWML,dPWM;
//GPIO配置函數
/*void MotorGPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB, ENABLE); //使能PA,PB端口時鐘
GPIO_InitStructure.GPIO_Pin = LEFT_MOTOR_GO; //左電機方向控制
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(LEFT_MOTOR_GO_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = LEFT_MOTOR_PWM;
GPIO_Init(LEFT_MOTOR_PWM_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = RIGHT_MOTOR_PWM;
GPIO_Init(RIGHT_MOTOR_PWM_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = RIGHT_MOTOR_GO;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(RIGHT_MOTOR_GPIO, &GPIO_InitStructure);
}
void run() //前進
{
RIGHT_MOTOR_GO_SET;
RIGHT_MOTOR_PWM_RESET;//PB9
LEFT_MOTOR_GO_SET;
LEFT_MOTOR_PWM_RESET;//PB8
}
*/
void TIM4_PWM_Init(unsigned short arr,unsigned short psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB , ENABLE); //使能GPIO外設時鐘使能
GPIO_InitStructure.GPIO_Pin = LEFT_MOTOR_GO; //左電機方向控制 PB7
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(LEFT_MOTOR_GO_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = LEFT_MOTOR_PWM; //左電機PWM控制 PB8
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //復用推挽輸出
GPIO_Init(LEFT_MOTOR_PWM_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = RIGHT_MOTOR_GO; //右電機方向控制 PA4
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(RIGHT_MOTOR_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = RIGHT_MOTOR_PWM; //右電機PWM控制 PB9
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //復用推挽輸出
GPIO_Init(RIGHT_MOTOR_PWM_GPIO, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Period = arr; //設置在下一個更新事件裝入活動的自動重裝載寄存器周期的值 80K
TIM_TimeBaseStructure.TIM_Prescaler =psc; //設置用來作為TIMx時鐘頻率除數的預分頻值不分頻
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //設置時鐘分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上計數模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根據TIM_TimeBaseInitStruct中指定的參數初始化TIMx的時間基數單位
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //選擇定時器模式:TIM脈沖寬度調制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
TIM_OCInitStructure.TIM_Pulse = 0; //設置待裝入捕獲比較寄存器的脈沖值
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //輸出極性:TIM輸出比較極性高
TIM_OC3Init(TIM4, &TIM_OCInitStructure); //根據TIM_OCInitStruct中指定的參數初始化外設TIMx
TIM_OC4Init(TIM4, &TIM_OCInitStructure); //根據TIM_OCInitStruct中指定的參數初始化外設TIMx
TIM_CtrlPWMOutputs(TIM4,ENABLE); //MOE 主輸出使能
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable); //CH1預裝載使能
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable); //CH1預裝載使能
TIM_ARRPreloadConfig(TIM4, ENABLE); //使能TIMx在ARR上的預裝載寄存器
TIM_Cmd(TIM4, ENABLE); //使能TIM1
}
void SetMotorSpeed(unsigned char ucChannel,signed char cSpeed)
{
// static short sMotorSpeed = 0;
short sPWM;
// float fDir = 1;
if (cSpeed>=100) cSpeed = 100;
if (cSpeed<=-100) cSpeed = -100;
sPWM = 7201 - fabs(cSpeed)*72;
switch(ucChannel)
{
case 0://右輪
TIM_SetCompare3(TIM4,sPWM);
if (cSpeed>0)
RIGHT_MOTOR_GO_RESET;
else if(cSpeed<0)
RIGHT_MOTOR_GO_SET;
break;
case 1://左輪
TIM_SetCompare4(TIM4,sPWM);
if (cSpeed>0)
LEFT_MOTOR_GO_SET;
else if (cSpeed<0)
LEFT_MOTOR_GO_RESET;
break;
}
}
//----------------------------------運動函數--------------------------------
void ZYSTM32_run(signed char speed,int time) //前進函數
{
signed char f_speed = - speed;
SetMotorSpeed(1,f_speed);//左輪 //為負數
SetMotorSpeed(0,speed);//右輪 //為正數
delay_ms(time); //時間為毫秒
}
void ZYSTM32_brake(int time) //剎車函數
{
SetMotorSpeed(1,0);//左輪 //為0
SetMotorSpeed(0,0);//右輪 //為0
RIGHT_MOTOR_GO_RESET;
LEFT_MOTOR_GO_RESET;
delay_ms(time); //時間為毫秒
}
void ZYSTM32_Left(signed char speed,int time) //左轉函數
{
SetMotorSpeed(1,0);//左輪 //左輪不動
SetMotorSpeed(0,speed); //右輪為正
delay_ms(time); //時間為毫秒
}
void ZYSTM32_Spin_Left(signed char speed,int time) //左旋轉函數
{
SetMotorSpeed(1,speed);//左輪 //左輪為正
SetMotorSpeed(0,speed); //右輪為正
delay_ms(time); //時間為毫秒
}
void ZYSTM32_Right(signed char speed,int time) //右轉函數
{
signed char f_speed = - speed;
SetMotorSpeed(1,f_speed);//左輪 //左輪為負
SetMotorSpeed(0,0); //右輪為0
delay_ms(time); //時間為毫秒
}
void ZYSTM32_Spin_Right(signed char speed,int time) //右旋轉函數
{
signed char f_speed = - speed;
SetMotorSpeed(1,f_speed);//左輪 //左輪為負
SetMotorSpeed(0,f_speed); //右輪為負
delay_ms(time); //時間為毫秒
}
void ZYSTM32_back(signed char speed,int time) //后退函數
{
signed char f_speed = - speed;
SetMotorSpeed(1,speed);//左輪 //為正數
SetMotorSpeed(0,f_speed);//右輪 //為負數
delay_ms(time); //時間為毫秒
}

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