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133 lines
2.4 KiB
133 lines
2.4 KiB
/* |
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* @Author: your name |
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* @Date: 2022-04-17 21:03:48 |
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* @LastEditTime: 2022-04-23 00:32:36 |
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* @LastEditors: Please set LastEditors |
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* @Description: 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE |
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* @FilePath: \undefinede:\项目\兼职项目\MotorPid\stm32\USER\main.c |
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*/ |
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#include "led.h" |
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#include "delay.h" |
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#include "sys.h" |
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#include "usart.h" |
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#include "wifi.h" |
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#include "adc.h" |
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#include "timer.h" |
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#include "string.h" |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <string.h> |
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#include "oled.h" |
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#include "motor.h" |
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#include "encoder.h" |
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#include "key.h" |
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struct UserInfo userInfo; |
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// 函数声明 |
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void Sys_Init(void); |
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void processingTasks(void); |
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void OLED_Display(void); |
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/** |
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* @description: main函数 |
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* @param {*} |
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* @return {*} |
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*/ |
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int main(void) |
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{ |
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Sys_Init(); |
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delay_ms(1000); |
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while(1) |
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{ |
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processingTasks(); |
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OLED_Display(); |
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} |
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} |
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/** |
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* @description: 处理任务 |
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* @param {*} |
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* @return {*} |
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*/ |
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void processingTasks(void) |
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{ |
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int key = 0; |
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key = KEY_Scan(0); |
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switch (key) |
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{ |
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case WKUP_PRES: |
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userInfo.diversion = ~userInfo.diversion; |
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break; |
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case KEY1_PRES: |
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userInfo.targetSpeed+=1000; |
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if(userInfo.targetSpeed > 7000) userInfo.targetSpeed = 7000; |
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break; |
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case KEY0_PRES: |
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userInfo.targetSpeed-=1000; |
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if(userInfo.targetSpeed <= 0) userInfo.targetSpeed = 0; |
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break; |
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case KEY2_PRES: |
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if(userInfo.run == 0) userInfo.run = 1; |
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else userInfo.run = 0; |
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break; |
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default: |
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break; |
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} |
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if(userInfo.diversion){ |
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AIN2 = 1; |
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AIN1 = 0; |
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}else{ |
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AIN2 = 0; |
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AIN1 = 1; |
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} |
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if(userInfo.run){ |
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userInfo.pwm_val = userInfo.targetSpeed; |
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if(userInfo.targetSpeed == 0) AIN2 = 0, AIN1 = 0; |
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}else{ |
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userInfo.pwm_val = 0; |
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AIN2 = 0; |
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AIN1 = 0; |
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} |
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PWMA = 7000 - userInfo.pwm_val; |
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} |
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/** |
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* @description: 系统初始化 |
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* @param {*} |
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* @return {*} |
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*/ |
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void Sys_Init(void) |
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{ |
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delay_init(); |
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); |
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//uart_init(115200); |
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PWM_Init(7199,0); |
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KEY_Init(); |
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OLED_Init(); |
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OLED_Clear(); |
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// 初始化为0 |
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userInfo.targetSpeed = 0; |
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userInfo.run = 1; |
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PWMA = 0; |
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} |
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/** |
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* @description: Oled显示 |
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* @param {*} |
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* @return {*} |
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*/ |
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void OLED_Display(void) |
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{ |
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char str[50]; |
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if(userInfo.diversion) sprintf(str, "%d pwm_val:%d,target:%d CW ", userInfo.run, abs(userInfo.pwm_val),abs(userInfo.targetSpeed)); |
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else sprintf(str, "%d pwm_val:%d,target:%d REV ", userInfo.run, abs(userInfo.pwm_val),abs(userInfo.targetSpeed)); |
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OLED_ShowString(0,0, str, 16); |
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} |
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