基于stm32做循迹小车的电机驱动模块的代码

基于STM32的循迹小车电机驱动模块代码通常包括以下几个部分：GPIO初始化、PWM信号生成和电机控制。以下是一个简单的示例代码，展示了如何使用STM32 HAL库来控制电机的正转和反转。 ```c #include "stm32f1xx_hal.h" // 定义电机控制引脚 #define MOTOR_LEFT_DIR_GPIO_PORT GPIOA #define MOTOR_LEFT_DIR_PIN GPIO_PIN_0 #define MOTOR_LEFT_PWM_GPIO_PORT GPIOA #define MOTOR_LEFT_PWM_PIN GPIO_PIN_1 #define MOTOR_RIGHT_DIR_GPIO_PORT GPIOB #define MOTOR_RIGHT_DIR_PIN GPIO_PIN_0 #define MOTOR_RIGHT_PWM_GPIO_PORT GPIOB #define MOTOR_RIGHT_PWM_PIN GPIO_PIN_1 TIM_HandleTypeDef htim2; void SystemClock_Config(void); static void MX_GPIO_Init(void); static void MX_TIM2_Init(void); int main(void) { HAL_Init(); SystemClock_Config(); MX_GPIO_Init(); MX_TIM2_Init(); HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1); HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2); while (1) { // 示例：前进 HAL_GPIO_WritePin(MOTOR_LEFT_DIR_GPIO_PORT, MOTOR_LEFT_DIR_PIN, GPIO_PIN_SET); HAL_GPIO_WritePin(MOTOR_RIGHT_DIR_GPIO_PORT, MOTOR_RIGHT_DIR_PIN, GPIO_PIN_SET); __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, 500); __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, 500); HAL_Delay(2000); // 示例：后退 HAL_GPIO_WritePin(MOTOR_LEFT_DIR_GPIO_PORT, MOTOR_LEFT_DIR_PIN, GPIO_PIN_RESET); HAL_GPIO_WritePin(MOTOR_RIGHT_DIR_GPIO_PORT, MOTOR_RIGHT_DIR_PIN, GPIO_PIN_RESET); __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, 500); __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, 500); HAL_Delay(2000); // 示例：停止 HAL_GPIO_WritePin(MOTOR_LEFT_DIR_GPIO_PORT, MOTOR_LEFT_DIR_PIN, GPIO_PIN_RESET); HAL_GPIO_WritePin(MOTOR_RIGHT_DIR_GPIO_PORT, MOTOR_RIGHT_DIR_PIN, GPIO_PIN_RESET); __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, 0); __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, 0); HAL_Delay(2000); } } static void MX_TIM2_Init(void) { __HAL_RCC_TIM2_CLK_ENABLE(); htim2.Instance = TIM2; htim2.Init.Prescaler = 72 - 1; // 72MHz / 72 = 1MHz htim2.Init.CounterMode = TIM_COUNTERMODE_UP; htim2.Init.Period = 1000 - 1; // 1MHz / 1000 = 1kHz htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; HAL_TIM_PWM_Init(&htim2); TIM_OC_InitTypeDef sConfigOC = {0}; sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.Pulse = 0; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1); HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2); } static void MX_GPIO_Init(void) { __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); GPIO_InitTypeDef GPIO_InitStruct = {0}; // 初始化电机方向控制引脚 GPIO_InitStruct.Pin = MOTOR_LEFT_DIR_PIN; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(MOTOR_LEFT_DIR_GPIO_PORT, &GPIO_InitStruct); GPIO_InitStruct.Pin = MOTOR_RIGHT_DIR_PIN; HAL_GPIO_Init(MOTOR_RIGHT_DIR_GPIO_PORT, &GPIO_InitStruct); // 初始化PWM控制引脚 GPIO_InitStruct.Pin = MOTOR_LEFT_PWM_PIN; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; HAL_GPIO_Init(MOTOR_LEFT_PWM_GPIO_PORT, &GPIO_InitStruct); GPIO_InitStruct.Pin = MOTOR_RIGHT_PWM_PIN; HAL_GPIO_Init(MOTOR_RIGHT_PWM_GPIO_PORT, &GPIO_InitStruct); } void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; // 配置时钟 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9; HAL_RCC_OscConfig(&RCC_OscInitStruct); // 配置时钟分频 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2); } ```