驱动电机运动0 c& t+ |$ l- f
软件:Keil5
1 f7 r' a7 f$ B. w X# d设备:步进电机(17HS4401)、驱动器、单片机(STM32F103)
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接线方式:
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4 U+ G, H; K* F电机与驱动器:黑A+,绿A-,红B+,蓝B-; E7 y+ S# U. t5 A4 v
驱动器与单片机:MF-PC8,DR-PC9,PU-PB5,COM-3.3V1 i$ q$ p0 H, v/ P
main.c:(注解部分为此次用不上的程序)) R! C6 s, ]1 [* Y+ R7 B, i2 }; V$ C
- <font face="微软雅黑" size="3">#include "led.h"3 X/ d/ \, G0 X
- #include "delay.h"
- P& K- i) R" N$ Q - #include "key.h"
! i, i' I1 j5 J - #include "sys.h"3 |. L2 o) V0 b4 k6 K
- #include "usart.h"! C% A/ [$ M- w. x) |3 |
- #include "timer.h". ]$ ^ s! J# ]- C( `6 J
- #include "foot_definition.h"( M1 G4 U4 A: X* d# q4 ^* H3 j
, E) z6 V) t$ f- d. N- W# K- int main(void)
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: T8 B- @9 i6 W, } d, p* P - TIM3_PWM_Init(99,99);
+ B0 R% t- P' p) b: L - PC89_Init();' O; r. K7 w6 Z9 N- ?1 g/ T
- //uart1_init(115200);//PA9 PA10 ( A1 u1 X* e3 a6 h( [
- //uart2_init(115200);//PA2 PA3
. d6 a8 ~" ?; q: x5 o) c6 a - //uart3_init(115200);//PB10 PB11
! d& g! ^' q, I- w" R - delay_init();. Y$ F1 Y* v1 q
- //KEY_Init(); 1 Z( s7 D, V/ L5 E3 o
- LED_Init();
7 M* G/ `7 P0 L) |7 e7 @! c - NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);4 ~/ `7 _" `, ?8 L
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4 w7 x3 o' ^4 d# G - GPIO_SetBits(GPIOC,GPIO_Pin_9); % W. T Z+ W3 o& d) t
- GPIO_SetBits(GPIOC,GPIO_Pin_8);
7 l3 x- _1 N+ F. `6 ?3 E - TIM_Cmd(TIM3, ENABLE); * n* ]5 p& ]5 `- |5 }
- LED1=!LED1;
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7 X2 W! b3 P& l. O! u# b) E* Y - </font>
复制代码 time.c:
0 l9 }. ?0 ?0 Q( {- <font face="微软雅黑" size="3">#include "timer.h"' N0 O3 P# c- ?& c/ u" T
- #include "led.h") n) b, M9 K! \: l
- #include "usart.h"( Y5 P6 F N9 o
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- void TIM3_PWM_Init(u16 arr,u16 psc)
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9 y, h! l+ j4 _8 j0 \7 n - GPIO_InitTypeDef GPIO_InitStructure;
" [" ^5 |) U; ~ Q) A - TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
_0 U4 ?% C( q2 F' E2 T - TIM_OCInitTypeDef TIM_OCInitStructure;
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: m1 \5 g7 Z& A* c- RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);% N% o d) O. u$ S
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
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1 R9 g# D/ v3 L& j& e - GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE); ' a2 N) t7 J2 M0 V. n6 h* {
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* R$ _5 ^; J4 k! I8 t& [ - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
) i, m+ c ^. S* a7 i7 b( n" o; I/ E P - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
# y2 P! N$ S5 `$ b1 z/ ]' _0 z - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
: Z$ R" x( E) ~% a: D - GPIO_Init(GPIOB, &GPIO_InitStructure);
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% v3 I d# c' [( E' K2 m - TIM_TimeBaseStructure.TIM_Period = arr; $ H/ {, v' Y' u9 t% I. ]# u" ~5 }0 V
- TIM_TimeBaseStructure.TIM_Prescaler =psc; , ]: ?- Q U3 v3 x$ {% H0 E" K
- TIM_TimeBaseStructure.TIM_ClockDivision = 0; " h+ T. X5 k1 H
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
6 d( w- S1 y7 j# `. r$ F( G: v - TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
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- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
2 a% V* p+ L& Q+ w9 E - TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
- V/ W2 v1 Y) `7 ?6 v - TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
9 S' X5 _1 ?% g; q' O - TIM_OCInitStructure.TIM_Pulse=arr;
8 b+ i" {3 Y) U( a, A) O - TIM_OC2Init(TIM3, &TIM_OCInitStructure);
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1 X# Q4 o( p% @% `$ F4 Y2 E- TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); # N+ w* \) X$ s9 x. r' i
9 V4 z( u- K$ a9 } Y- TIM_Cmd(TIM3, DISABLE);
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复制代码 time.h:. `% N$ {/ z9 m* a/ M; s
- <font face="微软雅黑" size="3">#ifndef __TIMER_H9 T% p8 Z3 L) C9 i& S
- #define __TIMER_H& V& x! o. D4 R" V' d% G" b6 a
- #include "sys.h"3 R) I9 k9 E5 o( [+ S
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- void TIM3_PWM_Init(u16 arr,u16 psc);</font>
复制代码 foot_definition.c名字随意取得,用以存放调用串口的程序); S# b6 n& i2 t6 N2 ~# ~
- <font face="微软雅黑" size="3">#include "foot_definition.h"- D7 c" b6 Q, H2 A! ~2 ^
- #include "stm32f10x_it.h"- c8 {- Y9 N; W! Q2 I
- #include "delay.h"
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* N, [ ?- r! [; X9 j2 B- void PC89_Init(void) //; w2 B( o, G/ s0 f
- {
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- GPIO_InitTypeDef GPIO_InitStructure;! O8 i, _' a7 I# i6 u
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; U/ X! I& ^6 ]% I - RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE); 0 N/ x2 z% h! o8 O1 x
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- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9; 1 t& [: J+ U' ]; [% P
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;0 C* @1 U& L1 ~8 k! `
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;. ^3 K+ P% u9 R0 ~( H
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! S( l4 r$ M7 S( c7 J8 t - GPIO_Init(GPIOC, &GPIO_InitStructure);5 d8 r( H$ F- G5 n5 t
- GPIO_ResetBits(GPIOC,GPIO_Pin_8); //MF
& Z/ O% `2 Q' t. v - GPIO_ResetBits(GPIOC,GPIO_Pin_9); //DIR
5 A3 f3 `6 u2 T+ T - }</font>
复制代码 foot_definition.h:
$ G0 x) ]2 V) z% _, j ^9 m$ s- <font face="微软雅黑" size="3">#ifndef _FOOT_DEFINITION_H
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: K. u E, n' B4 F9 e$ N9 [% G/ Z- void PC89_Init(void);</font>
复制代码 可以通过修改 TIM3_PWM_Init(99,99) 括号中的两个参数来改变PWM脉冲发送的频率,以达到控制电机转速的目的。
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