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#include "led.h"
#include "delay.h"
#include "sys.h"
#include "usart.h"
#include "oled.h"
#include "pwm.h"
#include "key.h"
#include "adc.h"
#include "timer.h"
#include "flash.h"
#define FLASH_START_ADDR 0x0801f000 //寫入的起始地址
u8 t=0,flag=0,valu;
u16 pwm=15000,adc_1,adc_2,adc_3,adc_4,adc_5,adc_6;
void ADC_display(); //ADC采集界面
void PWM_speed(); //PWM參數(shù)
void ADC_collection(); //ADC采集
void MOTOR_different(); //步進(jìn)電機(jī)差速
void way(); //尋跡
int main(void)
{
delay_init(); //延時(shí)初始化
uart_init(9600); //串口初始化為9600
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);// 設(shè)置中斷優(yōu)先級(jí)分組2
LED_Init(); //初始化與LED連接的硬件接口
KEY_Init();
Adc_Init(); //ADC初始化
OLED_Init(); //初始化OLED
// pwm = FLASH_R(FLASH_START_ADDR);//從指定頁(yè)的地址讀FLASH
TIM3_Int_Init(4999,7199);//10Khz的計(jì)數(shù)頻率，計(jì)數(shù)到5000為500ms
// TIM4_PWM_Init(pwm,0);//不分頻。PWM頻率=72000/(899+1)=80Khz
// TIM_SetCompare3(TIM4,pwm/2);
//
// TIM5_PWM_Init(pwm,0);//不分頻。PWM頻率=72000/(899+1)=80Khz
// TIM_SetCompare2(TIM5,pwm/2);
DIR1=0;
ENA1=0; //左輪
ENA2=0;
DIR2=1; //右輪
OLED_Show_Font_16x16(0,00,8);
OLED_Show_Font_16x16(0+16,00,9);
OLED_Show_Font_16x16(0,16,10);
OLED_Show_Font_16x16(0+16,16,11);
OLED_Show_Font_16x16(0+32,16,12);
OLED_Show_Font_16x16(0+48,16,13);
OLED_ShowString(0+64,16,"......",16); //系統(tǒng)初始化界面
OLED_Refresh_Gram(); //更新顯示到OLED
delay_ms(500);
for(valu=0;valu<128;valu++) //加載系統(tǒng)讀條
{
valu++;
OLED_Fill(0,48,valu,64,1);
delay_ms(10);
}
while(1)
{
way(); //尋跡
}
}
void ADC_display()
{
if(flag==0)
{
OLED_Clear(); //清屏
OLED_ShowString(5,0," ADC",24);
OLED_Show_Font_24x24(0+58,00,7);
OLED_Show_Font_24x24(0+80,00,8); //顯示ADC采集字樣
OLED_ShowString(0,24,"CH1: CH2:",12);
OLED_ShowString(0,38,"CH3: CH4:",12);
OLED_ShowString(0,52,"CH5: CH6:",12);
OLED_Refresh_Gram(); //更新顯示到OLED
flag=1; //標(biāo)志位置1
}
// while(1)
// {
OLED_ShowNum(28,24, adc_1,4,12); //ADC值
OLED_ShowNum(100,24,adc_2,4,12); //ADC值
OLED_ShowNum(28,38, adc_3,4,12); //ADC值
OLED_ShowNum(100,38,adc_4,4,12); //ADC值
OLED_ShowNum(28,52, adc_5,4,12); //ADC值
OLED_ShowNum(100,52,adc_6,4,12); //ADC值
OLED_Refresh_Gram(); //更新顯示到OLED
LED0=!LED0;
t=KEY_Scan(0);
// if(t==KEY2_PRES)
// PWM_speed();
// }
}
void PWM_speed()
{
u16 a,r,p;
OLED_Clear(); //清屏
OLED_ShowString(5,0," PWM",24);
OLED_Show_Font_24x24(0+56,00,9);
OLED_Show_Font_24x24(0+80,00,10); //顯示PWM參數(shù) 字樣
OLED_ShowString(0,24, "PWM CCRx:",16);
OLED_ShowString(0,40,"Pulse: Hz",12);
OLED_ShowString(0,52,"Speed: r/min",12);
OLED_ShowNum(70,24,pwm,5,16); //pwm CCRx值恢復(fù)上一次退出前的值
OLED_ShowNum(40,40,p,5,12); //脈沖速度
OLED_ShowNum(45,52,r,3,12); //電機(jī)轉(zhuǎn)速
OLED_Refresh_Gram(); //更新顯示到OLED
// while(1)
// {
t=KEY_Scan(0); //得到鍵值
switch(t)
{
case KEY0_PRES:
pwm=pwm-500; //6000-50000
if(pwm<=6000)
pwm=6000;
p=(72000000/pwm);
r=((p*60)/3200);
TIM4_PWM_Init(pwm,0);
TIM_SetCompare3(TIM4,pwm/2);
TIM5_PWM_Init(pwm,0);
TIM_SetCompare2(TIM5,pwm/2);
OLED_ShowNum(70,24,pwm,5,16); //pwm CCRx值
OLED_ShowNum(40,40,p,5,12); //脈沖速度
OLED_ShowNum(45,52,r,3,12); //電機(jī)轉(zhuǎn)速
OLED_Refresh_Gram(); //更新顯示到OLED
// FLASH_W(FLASH_START_ADDR,pwm); //從指定頁(yè)的地址寫入FLASH
break;
case KEY1_PRES:
pwm=pwm+500;
if(pwm>=50000)
pwm=50000;
p=(72000000/pwm);
r=((p*60)/3200);
TIM4_PWM_Init(pwm,0);
TIM_SetCompare3(TIM4,pwm/2);
TIM5_PWM_Init(pwm,0);
TIM_SetCompare2(TIM5,pwm/2);
OLED_ShowNum(70,24,pwm,5,16);
OLED_ShowNum(40,40,p,5,12);
OLED_ShowNum(45,52,r,3,12);
OLED_Refresh_Gram();//更新顯示到OLED
// FLASH_W(FLASH_START_ADDR,pwm); //從指定頁(yè)的地址寫入FLASH
break;
case KEY2_PRES:
ADC_display();
break;
default:
delay_ms(10);
// }
// OLED_ShowChar(36,52,t,12,1);//顯示ASCII字符
// OLED_ShowNum(94,52,t,3,12); //顯示ASCII字符的碼值
// OLED_ShowNum(36,52,t,3,12); //顯示ASCII字符的碼值
// OLED_Refresh_Gram();//更新顯示到OLED
}
}
void ADC_collection()
{
adc_1=Get_Adc_Average(ADC_Channel_7,10); //得到ADC采集值 CH7
adc_2=Get_Adc_Average(ADC_Channel_6,10); //得到ADC采集值 CH6
adc_3=Get_Adc_Average(ADC_Channel_5,10); //得到ADC采集值 CH5
adc_4=Get_Adc_Average(ADC_Channel_4,10); //得到ADC采集值 CH4
adc_5=Get_Adc_Average(ADC_Channel_3,10); //得到ADC采集值 CH3
adc_6=Get_Adc_Average(ADC_Channel_2,10); //得到ADC采集值 CH2
}
void MOTOR_different()
{
OLED_Show_Font_16x16(16,00,0);
OLED_Show_Font_16x16(16+16,00,1);
OLED_Show_Font_16x16(16+32,00,2);
OLED_Show_Font_16x16(16+48,00,3);
OLED_Show_Font_16x16(16+64,00,6);
OLED_Show_Font_16x16(16+80,00,7);
while(1)
{
}
}
void way()
{
PWM_speed();
while(1)
{
ADC_collection(); //ADC信號(hào)采集
ADC_display();
if(1500<adc_3 && adc_3<3000 && 1500<adc_4 && adc_4<3000) //直行
{
if(ENA1==1)
{
ENA1=0; //左輪使能開啟
ENA2=0; //右輪使能開啟
}
TIM4_PWM_Init(pwm,0);
TIM_SetCompare3(TIM4,pwm/2);
TIM5_PWM_Init(pwm,0);
TIM_SetCompare2(TIM5,pwm/2);
OLED_ShowString(116,0," ",24);
OLED_ShowString(116,0,"M",24);
OLED_Refresh_Gram();//更新顯示到OLED
}
if(2500<=adc_4 && adc_3<=2000) //左轉(zhuǎn)彎
{
if(ENA1==1)
{
ENA1=0; //左輪使能開啟
ENA2=0; //右輪使能開啟
}
TIM4_PWM_Init(pwm,0);
TIM_SetCompare3(TIM4,pwm/2);
TIM5_PWM_Init(pwm/2,0);
TIM_SetCompare2(TIM5,pwm/4);
OLED_ShowString(116,0," ",24);
OLED_ShowString(116,0,"L",24);
OLED_Refresh_Gram();//更新顯示到OLED
}
if(adc_4<2000 && 2500<adc_3) //右轉(zhuǎn)彎
{
if(ENA1==1)
{
ENA1=0; //左輪使能開啟
ENA2=0; //右輪使能開啟
}
TIM4_PWM_Init(pwm/2,0);
TIM_SetCompare3(TIM4,pwm/4);
TIM5_PWM_Init(pwm,0);
TIM_SetCompare2(TIM5,pwm/2);
OLED_ShowString(116,0," ",24);
OLED_ShowString(116,0,"R",24);
OLED_Refresh_Gram();//更新顯示到OLED
}
if(adc_3<300 && adc_4<300) //停止
{
if(ENA1==0)
{
ENA1=1; //左輪使能關(guān)閉
ENA2=1; //右輪使能關(guān)閉
}
OLED_ShowString(116,0," ",24);
OLED_ShowString(116,0,"S",24);
OLED_Refresh_Gram();//更新顯示到OLED
}
// delay_ms(10);
}
}

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