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77 lines
1.6 KiB
77 lines
1.6 KiB
#include "motor.h" |
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#include "timer.h" |
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#include "delay.h" |
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u16 Ypwmva=0; |
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u16 Zpwmva=0; |
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void motor_Init(void) |
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{ |
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GPIO_InitTypeDef GPIO_InitStructure; |
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC|RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOA, ENABLE); |
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5|GPIO_Pin_0; //PB5、PB0 端口配置 |
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推挽输出 |
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度为50MHz |
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GPIO_Init(GPIOB, &GPIO_InitStructure); //根据设定参数初始化 |
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GPIO_SetBits(GPIOB,GPIO_Pin_5|GPIO_Pin_0); |
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// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_0; |
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// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //PA8,9,10,13,14,15设置成输入，默认下拉 |
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// GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIOA |
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// |
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// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10|GPIO_Pin_11; |
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// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //PC10,11设置成输入，默认下拉 |
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// GPIO_Init(GPIOC, &GPIO_InitStructure);//初始化GPIOC |
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} |
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void PWM_init(void) |
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{ |
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TIM_SetCompare2(TIM3,10); |
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TIM_SetCompare3(TIM3,10); |
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} |
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void run(void)//前进 |
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{ |
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Ypwmva=450; |
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Zpwmva=450; |
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Right_moto_go; |
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Left_moto_go; |
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} |
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void stop(void)//停止 |
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{ |
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Ypwmva=0; |
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Zpwmva=0; |
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Right_moto_go; |
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Left_moto_go; |
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} |
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void backrun(void)//后退 |
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{ |
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Ypwmva=450; |
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Zpwmva=450; |
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Left_moto_back; |
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Right_moto_back; |
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} |
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void leftrun(void)//左转 |
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{ |
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Ypwmva=500; |
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Zpwmva=500; |
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Right_moto_back; |
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Left_moto_go; |
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} |
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void rightrun(void)//右转 |
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{ |
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Ypwmva=500; |
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Zpwmva=500; |
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Right_moto_go; |
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Left_moto_back; |
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} |
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