MotorPid/stm32/USER/main.c

/*
 * @Author: your name
 * @Date: 2022-04-17 21:03:48
 * @LastEditTime: 2022-04-18 23:11:30
 * @LastEditors: Please set LastEditors
 * @Description: 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
 * @FilePath: \undefinede:\项目\兼职项目\MotorPid\stm32\USER\main.c
 */
#include "led.h"
#include "delay.h"
#include "sys.h"
#include "usart.h"
#include "wifi.h"
#include "adc.h"
#include "timer.h"
#include "string.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "oled.h"
#include "motor.h"
#include "encoder.h"
#include "key.h"

struct UserInfo userInfo;

// 函数声明
void Sys_Init(void);
void processingTasks(void);
void OLED_Display(void);


/**
 * @description: main函数
 * @param {*}
 * @return {*}
 */
int main(void)
{	
	Sys_Init();
	delay_ms(1000);
	while(1)
	{
		processingTasks();
		OLED_Display();
		delay_ms(100);
	}	 
}

/**
 * @description: pid 算法
 * @param {int} targetSpeed
 * @param {int} currentSpeed
 * @return {*}
 */
int velocity_PID(int targetSpeed, int currentSpeed){
	static float velocity_Kp = 0.04, velocity_Kd = 0; 
	int Bias, velocity = 0;
	Bias = currentSpeed - targetSpeed;
	velocity = velocity_Kp * Bias  + Bias * velocity_Kd;
	return velocity;
}



/**
 * @description: 处理任务
 * @param {*}
 * @return {*}
 */
void processingTasks(void)
{
	int key = 0;
	// 方向
	if(userInfo.diversion) AIN1 = 1, AIN1 = 0;
	else AIN1 = 0, AIN1 = 1;
}

/**
 * @description: 系统初始化
 * @param {*}
 * @return {*}
 */
void Sys_Init(void)
{
	delay_init();	    	 
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
	uart_init(115200);	
	PWM_Init(7199,0);
	TIM3_Int_Init(5000, 71); // 定时器3
	Encoder_Init_TIM2();
	KEY_Init();
	OLED_Init();
	OLED_Clear();
	userInfo.pwm_val = 6000;
} 

/**
 * @description: Oled显示
 * @param {*}
 * @return {*}
 */
void OLED_Display(void)
{
	char str[30];
	sprintf(str, "speed:%d,pwd_val:%d", abs(userInfo.currentSpeed), userInfo.pwm_val);
	OLED_ShowString(0,0, str, 16);
}