大概思路
8 _+ c3 w, g0 {7 p1.利用定时器产生可控方波(选好定时器及通道),需要注意的是设置PWM输出引脚时要将引脚复用到定时器
d9 d+ o% d% u* q+ T2.将电机控制引脚设置成推挽输出模式 ?( ^( Q Z! C% d
3.改变占空比即可改变速度
: D6 w$ F7 t2 ^# ?4.采用的电机驱动为TB6612,这里不做介绍- o. q4 m, V3 P6 K+ C
5.我这里用的是定时器1的通道1,2,3,4。可自行修改8 w' G# ^/ K: z
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5 l( n3 N- q& w7 a }定时器初始化- q+ i5 F0 f1 y
定时器1初始化9 O/ x! _" e; V$ N9 V
- <font face="微软雅黑" size="3">void TIM1_PWM_Init(u32 arr,u32 psc), a( ^; u2 b" t' ^7 d
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- //此部分需手动修改IO口设置( A; t0 o2 Z+ |- E8 G
- int ccr1=500,ccr2=500,ccr3=500,ccr4=500;
2 ?9 D4 H' N' d2 ^2 b - GPIO_InitTypeDef GPIO_InitStructure;+ G7 v4 n+ W# Y) B% B) y$ s
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;( p! D6 d* X {
- TIM_OCInitTypeDef TIM_OCInitStructure;
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8 m1 f2 v8 z$ k1 P: G/ ] f - RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE); //TIM1时钟使能
/ u8 K, f: H; Y$ F, q; s5 I - RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE); //使能时钟
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1 @8 d3 D' ~5 T$ I - GPIO_PinAFConfig(GPIOE,GPIO_PinSource9,GPIO_AF_TIM1);9 g2 q+ S& A9 E& x& x
- GPIO_PinAFConfig(GPIOE,GPIO_PinSource11,GPIO_AF_TIM1);
: J# k/ V2 F4 G% w- b" h# V' q - GPIO_PinAFConfig(GPIOE,GPIO_PinSource13,GPIO_AF_TIM1); //GPIOE9,E11,E13,E14复用为定时器1! ?# b2 a' A' t( a/ K
- GPIO_PinAFConfig(GPIOE,GPIO_PinSource14,GPIO_AF_TIM1);6 Y1 n n6 e/ y/ l3 |) Q
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# F# \2 o! ^3 T: i1 h Z% { - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9|GPIO_Pin_11|GPIO_Pin_13|GPIO_Pin_14; //GPIOF9/ M- b: H, o# V" d1 m5 \& c% X
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能* x; h" ]' e$ ^8 w) k
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //速度100MHz7 s5 j ?0 \. q R) Q
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出$ Y; v; m2 w/ a7 P, L
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉. D' ?7 Q4 T9 D0 G8 D) l* \# b
- GPIO_Init(GPIOE,&GPIO_InitStructure); //初始化IO口
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- TIM_TimeBaseStructure.TIM_Prescaler=psc; //定时器分频
% B4 `* Y- H( ^% | - TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
9 C$ k2 Z% w% _& | - TIM_TimeBaseStructure.TIM_Period=arr; //自动重装载值2 T1 k Q+ f% o4 `1 U. [, I
- TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1; . o4 i5 G5 _+ h" k/ }1 N
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0 q4 t9 x3 ?8 q. N - TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;$ }) i7 n) M% y( J {
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- TIM_TimeBaseInit(TIM1,&TIM_TimeBaseStructure);//初始化定时器1& ?1 k8 R/ ~! f
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- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式2% N( q; R2 i& R" v
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能4 c1 @: I+ w6 Z* w
- ///**************
/ e0 {6 c' q( d! G- G* T - TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;//输出同相+ _3 }7 ]8 }3 g, C( z
- TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;7 d( x0 E( t/ ~1 e. J1 R2 Y4 f
- TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
% @$ _! H0 j( T' _ I# z% U3 | - TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCPolarity_High;
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- TIM_OCInitStructure.TIM_Pulse = ccr1; : o: o" ]8 E+ e: [) H- P
- TIM_OC1Init(TIM1, &TIM_OCInitStructure); : s' U; |0 |; c1 W E
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) _5 [* D2 [' ], g+ I# V! z: s - TIM_OCInitStructure.TIM_Pulse = ccr2; " M' _4 L t6 Z9 i) f& W! b
- TIM_OC2Init(TIM1, &TIM_OCInitStructure);
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. R; p9 v, I4 {- z2 K: J - TIM_OCInitStructure.TIM_Pulse = ccr3;
! g5 I5 Z6 j+ F0 M - TIM_OC3Init(TIM1, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM1 OCx
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- TIM_OCInitStructure.TIM_Pulse = ccr4; //设置待装入捕获比较寄存器的脉冲值$ N$ B$ ?/ j' Q3 V
- TIM_OC4Init(TIM1, &TIM_OCInitStructure);
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1 g' o' h% `# r# i- g) Y# f; ? \- TIM_Cmd(TIM1, ENABLE); . H# N2 h8 [6 ]
- TIM_CtrlPWMOutputs(TIM1,ENABLE);6 J! k( z/ v: v" W
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高级定时器与通用定时器异同
* m7 x. _. V& I" c( u1 F1.采用定时器产生可控方波,高级定时器TIM1、TIM8与通用定时器配置有所不同,比通用定时器多两行代码:
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下面展示一些 内联代码片。% H& J% g1 Q8 Z f
- <font face="微软雅黑" size="3">TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;//重复计数器的值- w5 B" J- t. D) D1 q! s; C
- TIM_CtrlPWMOutputs(TIM1,ENABLE);//主输出使能,当使用的是通用定时器时,这句不需要</font>
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电机IO口初始化2 a+ |' V2 P5 J# I$ ]8 H4 u
IO设置为推挽输出即可
( i6 {" U5 S& \7 W# w我这里用的IO为D0,D1,D2,D3,D10,D11,B14,B15
4 ^$ `1 Q# Y6 A4 ], l, A(4个电机,8个IO)* u$ b2 V" j6 [) q! E
- <font face="微软雅黑" size="3">void MOTOR_GPIO_Config(void) 电机控制对应IO口 J, j$ [( P2 p: d; }4 d. Z
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! K* r. m T1 E$ J; F - /*定义一个GPIO_InitTypeDef类型的结构体*/* }* X6 M( G& f7 a3 d
- GPIO_InitTypeDef GPIO_InitStructure;: n! a' g9 e% j$ E' i, A
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- /*开启GPIOB的外设时钟*/
- P5 W* H; M9 w% h* G8 ? - RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); * i/ A2 X4 L9 L0 M$ [6 b, W: D! l
1 n. ]7 H! C7 n4 @2 ~% q' Y- /*选择要控制的引脚*/, _2 j2 H7 _: q4 `) ~& J, w7 z/ e7 s
- // 4个电机 ,8个IO口
7 j( K% d4 v( c; Z8 Z - GPIO_InitStructure.GPIO_Pin =GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3|GPIO_Pin_10|GPIO_Pin_11; / B$ z! L0 Y7 w- S, v
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- /*设置引脚模式为通用推挽输出*/
6 y. R. Y2 ^- n6 E - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; 2 x- ^ }. ?* T( i( O; y- ~
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- /*设置引脚速率为50MHz*/ / B$ J9 J* \2 a
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; " t, D5 T/ f9 g
6 b' h; ?7 w. E+ K/ {' K( |; ?- /*调用库函数,初始化*/ 1 R& ~4 J- m, A0 {
- GPIO_Init(GPIOD, &GPIO_InitStructure); # n- T6 n B, T0 A* n" h+ V8 _
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- RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
& B( |3 y. {2 M" _. q& u - GPIO_InitStructure.GPIO_Pin =GPIO_Pin_14|GPIO_Pin_15;
& _ f) s# K/ V - GPIO_Init(GPIOB, &GPIO_InitStructure);
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* r; w2 P! m( V: c- GPIO_SetBits(GPIOD,GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3|GPIO_Pin_10|GPIO_Pin_11);7 {! @$ E( X+ `) X: [ l
- GPIO_SetBits(GPIOB,GPIO_Pin_14|GPIO_Pin_15);6 W& W- S8 |3 V7 K/ O
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- </font>
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6 [" ]4 n" y7 c" K) e U1 Y3 ~ W1 X改变占空比调速; P2 S4 \' u/ l8 n: B* N
调用函数改变占空比即可改变调速
' ^ M6 B8 z, U' L! `& J- <font face="微软雅黑" size="3">TIM_SetCompareN(TIMx, Compare2)</font>
复制代码 N为定时器哪个通道,x为定时器几,Compare2为自己设置的数值; j$ \3 y: A6 Z+ T1 t1 }
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总结
( @" d6 o. q3 k$ _: }$ v! ^4 K _# l控制电机、舵机这一类模块电源最好跟其它模块电源分开,不然对其它模块工作会有影响。(比如循迹模块啥的)。控制原理已知,具体效果看实际,需进行多次试验。6 A! u- V& o& B8 S0 C c3 l% i
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