一、L298N简介' E) m/ F( G& N8 X+ p/ i& ?" E/ _
L298N是SGS公司生产的一款通用的电机驱动模块。其内部包含4路逻辑驱动电路,有两个H桥的高电压大电流全桥驱动器,接收TTL逻辑电平信号,一个模块可同时驱动两个直流电机工作,具有反馈检测和过热自断功能。利用L298N驱动电机时,主控芯片只需通过I/O口输出控制电平即可实现对电机转向的控制,编程简单,稳定性好。1 e) {2 E9 r6 @! I
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3 d) r4 p* r6 nL298N
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; f$ k2 o% V* H2 Z- D二、L298N电路图6 b" x1 _5 q4 W9 @; O3 j2 G8 a8 L
L298N的电路图如下" p# W& O1 S" ?: P4 v
3 M: O1 O9 j9 ~2 T/ f( R+ {
9 p. R6 l2 D) nL298N电路图
( H2 L3 U" ?: }
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OUT1、OUT2、OUT3和OUT4之间分别接两个电机。IN1、IN2、IN3和IN4引脚接STM32单片机,用来接收单片机发送来的控制电平,控制电机的转动方向,ENA和ENB为使能端。" U8 d& |; {5 g8 ~ f8 X+ v( g
8 y: u2 ?. V+ H- ^" D" L% z0 }$ X
三、L298N使用方法
T. N. B. T. Q r3 f- TL298N通常用于电机驱动,控制电机的转向,转速。电机转向通过IN1,IN2,IN3和IN4的逻辑电平控制,转向通过给输入引脚输入的PWM占空比控制。L298N控制电机转动状态的逻辑功能表如下# _# U7 t6 h5 V
9 m& b5 ?1 Y/ L; G
0 t; s$ j0 L! e( m7 sL298N控制电机转动状态逻辑功能表
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正如上面所说,电机的调速可以通过单片机给输入引脚发送PWM信号来实现。电机的转速与电机两端PWM信号的占空比成正比,占空比越大,电机转速越快。
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四、L298N驱动电机实例/ K7 |( C; i5 E: C! ^* H% m- w- O
一个L298N可以驱动两个电机,博主使用时L298N用12V航模电池供电,L298N输出的5V给单片机供电。这里以利用两个L298N,驱动四个电机,搭配麦克纳姆轮实现车的前进,后退,平移和自转为例,展示一下L298N的配置和使用流程。同时,也对麦克纳姆轮做一个简单介绍。
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4.1 麦克纳姆轮简介8 F t5 J- q9 w0 R/ x
麦克纳姆轮与传统轮胎相比可以实现全向移动,能够在较为狭小的空间内任意行进,更加灵活。虽然麦克纳姆轮相比于传统轮胎也有许多缺点,比如麦克纳姆轮的能耗高,成本也高,而且还容易受到地形限制,但是对于机器人大赛以及一些工业生产用的智能车来说,麦克纳姆轮的全向移动优势就表现得十分突出,避障时麦克纳姆轮小车可直接平移,无需提前预留转弯角度,也无需其他传感器辅助,编写程序时更加简洁,所以最终我选择使用麦克纳姆轮来实现小车的全向移动。
0 T4 n! l% a* A/ t. t+ a; c/ P" L3 s5 a: j6 k2 G
0 {% ~! m1 d4 W( g& b麦克纳姆轮
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# o0 S n& {& F d' B% R% O% Z3 [
麦克纳姆轮主要是由轮毂和辊子两部分组成,辊子轴线和轮毂轴线夹角为45°,有互为镜像的A/B轮两种,安装时所有轮子辊子的轴线方向都要指向小车的中心,这是因为麦轮的全向移动是通过力的合成和分解来实现的,如果A/B轮混用或者没有按照上述要求安装会导致小车没法正常行驶。
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4.2 定时器PWM配置9 K8 ?4 _7 @- `) L8 X" ` H
使用TIM2和TIM3的四个PWM通道(共8路PWM)来控制车速,这里配置了固定的预分频系数和自动重装载值。对于定时器的内容,可见博主STM32速成笔记的定时器介绍部分。TIM2和TIM3初始化程序如下9 ^( J) k- ?& a
- /*
4 C5 E s ?- _1 m; {8 q) o2 J: z. x% b* N - *==============================================================================, O) R% k; ], F: F; M: w
- *函数名称:TIM2_PWM_Init
/ B* R8 H/ n- Y) l: X& q - *函数功能:初始化定时器2的PWM
+ j; u& m* ^% R7 [+ o5 O, k& z U$ T - *输入参数:无+ r4 ?$ R/ }( r7 Y# @
- *返回值:无( h* Y; q/ W' \$ u9 R/ o
- *备 注:预分频系数和自动重装载值固定
/ }5 J/ T0 s1 u" F. v - *============================================================================== \7 G7 x6 S9 w& u; W
- */+ K9 R( K' X# b( J# e
- void TIM2_PWM_Init (void): h2 X! {! E: h
- {
1 P# P9 r2 M! @5 s/ a - // 结构体定义, |* r2 L# T! W+ v
- GPIO_InitTypeDef GPIO_InitStructure;
* n W1 s. }/ K% D: _6 i9 \# o4 I - TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
1 r! ~+ Y+ t H5 _$ I; E - TIM_OCInitTypeDef TIM_OCInitStructure;
# t8 s2 o" l1 @' k; O8 K - 8 Q% y$ ^. c5 L( @1 _1 B
- // 开启时钟/ e" r8 G6 H1 v, B5 p
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO
5 s" b# \% W$ ~4 D1 N8 W1 U% e - | RCC_APB1Periph_TIM2,ENABLE);
* O( M: Z4 Y1 R0 r3 @
- X3 m4 g# G& B7 H" y$ Q- // 配置GPIO1 t9 v& V* \2 J0 F0 B" x4 C
- GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3;6 c6 y- E) R( {0 s% a; z6 V3 X1 i# x
- GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;: ?: f$ @% y0 |+ m
- GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP; // 复用推挽输出
" O% c" e2 D1 M1 T p: @5 k - GPIO_Init(GPIOA,&GPIO_InitStructure);% |- R1 d5 r# n4 S" }% z2 I
- 0 m$ F0 i- x K# w& {& R, m: P
- // 配置TIM27 y; B9 x( i* A8 V/ P
- TIM_TimeBaseInitStructure.TIM_Period = 899;' F2 a' m8 F! }) o# d- G
- TIM_TimeBaseInitStructure.TIM_Prescaler = 0;2 p+ K4 p3 h5 y: ^# u4 Y
- TIM_TimeBaseInitStructure.TIM_ClockDivision = 0;
. y# a: Q* n, I# Y7 x - TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;7 k) C. H, w5 q9 l# K
- TIM_TimeBaseInit(TIM2, & TIM_TimeBaseInitStructure);4 h2 Q6 d, V) d$ ]0 J0 A& k( d
5 L. n0 a1 {; ~( Y; a' |4 y2 i- & B) U3 ^# v- Z, ]: \
- // 配置PWM通道1
: t! N: C5 ^- L - TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;% T2 l8 V3 [& t* z d. o
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;3 d3 e$ L% H" s6 S" [5 m
- TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;$ Q7 V; D9 e' ?7 I& Y3 U0 _
- TIM_OCInitStructure.TIM_Pulse = 899;
f% W$ J( N0 A* Q4 z; O - TIM_OC1Init(TIM2 , &TIM_OCInitStructure);
( b7 S( A7 z A& h5 J - TIM_OC1PreloadConfig(TIM2 , TIM_OCPreload_Enable);0 D1 @; q( a- w; p; n4 t" Q
- . G. v4 _/ b. P
- // 配置PWM通道2
' ~* j. w% @5 k9 J6 E6 j - TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
! G' ~( N* J1 P% Q# o; {, P( ~6 f, q - TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;6 \, ^, t4 V+ c; Z
- TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
; _' {5 U4 G& @ - TIM_OCInitStructure.TIM_Pulse = 899;
9 h$ ?: q# Y+ D - TIM_OC2Init(TIM2 , &TIM_OCInitStructure);
$ u) d# J7 @! H7 W* V% e. h" u# D" W - TIM_OC2PreloadConfig(TIM2 , TIM_OCPreload_Enable);
9 G# O3 ^7 } R: C: _+ s% w - + h! v; v8 P( g1 \1 x9 W/ m3 F% C
- // 配置PWM通道3
% p3 A, b5 u1 ^& C% Q - TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;: n8 Z- S3 y% Y/ n) s' H0 b) O
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
k& [/ J% K/ W: z# e% w - TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;0 F) U6 ^" q9 X U) W2 T
- TIM_OCInitStructure.TIM_Pulse = 899;
) @7 B4 J0 B9 @7 D7 e1 v& ^ - TIM_OC3Init(TIM2 , &TIM_OCInitStructure); h* y* i2 g \# A
- TIM_OC3PreloadConfig(TIM2 , TIM_OCPreload_Enable);
1 v8 S! j1 | d! X$ o" y# r - : |9 A6 k" c5 a# F
- // 配置PWM通道43 X% _. A) R" M: {) _5 Z
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
! ~0 ^% E; C! s, z/ r- R/ R! x( Z3 M4 N% m - TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;1 X' F; y. C8 r$ ~/ B$ |
- TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;7 z, z* y b! c& F
- TIM_OCInitStructure.TIM_Pulse = 899;; z: q; t" ^8 R4 S8 j
- TIM_OC4Init(TIM2 , &TIM_OCInitStructure);
" p# f: m- ^) P9 m - TIM_OC4PreloadConfig(TIM2 , TIM_OCPreload_Enable);
; k4 P7 ]) @* u4 B3 t0 i2 l -
; K& Z. b$ j* ?% t( s- D }) r" s - // 使能TIM2
' v$ c. u5 u* z: U - TIM_Cmd(TIM2 , ENABLE);
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- /*
7 q* ^" H0 y8 c0 m2 c% {# g) H* j - *==============================================================================4 H j; {; L b* s3 b- g
- *函数名称:TIM3_PWM_Init/ b4 v) o% p6 l2 |
- *函数功能:初始化定时器3的PWM
. R. k4 J$ }+ b' o) i - *输入参数:无
* J7 L: V1 l5 Z2 j - *返回值:无2 [/ S v9 i4 m% a1 z" K
- *备 注:预分频系数和自动重装载值固定
, P Z8 V) t# E, P - *==============================================================================
$ s2 S/ K* y5 e e. I6 g - */2 K) U( M$ N: W9 c3 i4 E; N
- void TIM3_PWM_Init (void)# |% w6 o1 @3 O. ~
- { I( ]" J. Y% R2 R( L3 {
- // 结构体定义
/ t ~) r0 o7 u" O! o* X3 G - GPIO_InitTypeDef GPIO_InitStructure;9 ^2 i( Y9 A7 L
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
* f+ r) _8 X: S: U8 E - TIM_OCInitTypeDef TIM_OCInitStructure; 3 i% W9 t5 S( Q5 L$ q7 O" e
-
! [( Y$ J* U6 j4 P% q! l4 t - // 开启时钟/ T4 e( y! p. I+ z( _& _
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO
; B) b% B# M; ~ - | RCC_APB1Periph_TIM3, ENABLE);! Z) J8 u2 w* m9 w8 I% U) ^2 M
- * H2 o1 J, h8 |$ V. V, M, `5 t. U3 A
- // 配置GPIO; v+ G: y2 Q% C; h, w) Z6 F
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;; K# |9 C, F2 D- j2 [! c
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
* `% H# O, G* c2 [( l0 r( c, e - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // 复用推挽式输出. I- r( g2 L$ ~% L3 f! J
- GPIO_Init(GPIOA, &GPIO_InitStructure); & }2 { M1 G1 A2 J
-
: v7 B& ~0 m0 [$ t3 J& ~/ h9 {. A2 d - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
6 ?7 D6 F$ ~) ]! A - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
5 s5 U: Z+ r0 I3 L - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; 2 n- {9 T4 I' B+ y7 s
- GPIO_Init(GPIOB, &GPIO_InitStructure);
2 C. b4 B" R1 A, G3 n! Q7 F, [ -
3 R* F) v+ k1 c& m. @ - // 配置TIM3
6 L2 b. P. l6 |0 C. I - TIM_TimeBaseStructure.TIM_Period = 899;
: D& W& ?+ U( q% V - TIM_TimeBaseStructure.TIM_Prescaler = 0;
& Y' ]$ u8 K: S4 G - TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;+ g- Q* d( M w1 S2 [ }5 S
- TIM_TimeBaseStructure.TIM_ClockDivision = 0;" I$ F" K5 H9 C$ Q7 |# x# v7 T( n
- TIM_TimeBaseInit(TIM3 , &TIM_TimeBaseStructure);
" k7 b& n; E/ H, r, w( k9 S* z) E -
& ]9 e/ R2 \7 a- t - // 配置PWM通道1" i4 }' W$ p/ P- t( ~
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;: x# L8 W" @( @5 E$ L
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; k: b( p' F# L$ K; m+ I
- TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;1 ~% Y3 t5 I7 x- X6 S1 g
- TIM_OCInitStructure.TIM_Pulse = 900;
1 w0 l# d* u2 ~! Y - TIM_OC1Init(TIM3 , &TIM_OCInitStructure);" c; ?: Y" [$ ?
- TIM_OC1PreloadConfig(TIM3 , TIM_OCPreload_Enable);
; B0 }8 {; |, T# G - ( J3 X! t! `' A2 j+ i: S \4 @5 R
- // 配置PWM通道2
: }- e! ] d- [; }+ T - TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
( X; p/ p/ x( k( x5 f( c' b - TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
1 [" B% e8 o9 Z2 s - TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
9 a- {% t M# ?) G - TIM_OCInitStructure.TIM_Pulse = 900;2 p$ E9 \( a5 B P, f" U8 U4 f
- TIM_OC2Init(TIM3 , &TIM_OCInitStructure);4 |0 k0 ]/ Y( z, d# }! T9 y. W- B
- TIM_OC2PreloadConfig(TIM3 , TIM_OCPreload_Enable);
/ _3 x8 s' Z3 @: ] - / Y; a3 ]- r$ c: E- K: X& }
- // 配置PWM通道3
1 ]: a7 u* ^% r, @( q. h% {- Q) O - TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;: o" t/ A! ?( B" ]$ L j
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;* ]( {' O# z- S2 E) I' Z
- TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;9 z5 F) c% } F2 W5 V5 r4 F
- TIM_OCInitStructure.TIM_Pulse = 900;% z5 v5 r+ t$ H' i$ j+ Q
- TIM_OC3Init(TIM3 , &TIM_OCInitStructure);. `% V) ~/ Y) f% B, i: E
- TIM_OC3PreloadConfig(TIM3 , TIM_OCPreload_Enable);
9 C( x* Y6 e! t2 t/ ^0 W+ a -
) k1 b) F. _. C7 w1 C2 L: T - // 配置PWM通道3
7 W* b( S0 x5 ]5 R4 Z2 @ - TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;7 v: F* W% H3 @% C4 u: Y% R0 d( K1 w
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;9 s5 z u1 ^0 K8 J
- TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;0 S8 V4 F) z- o" `! a
- TIM_OCInitStructure.TIM_Pulse = 900;
* \- l- B: q9 p - TIM_OC4Init(TIM3 , &TIM_OCInitStructure);
; R% g. [( V9 R* g - TIM_OC4PreloadConfig(TIM3 , TIM_OCPreload_Enable);
2 z( N* U" n9 _' q& D8 L7 d - " o0 L1 Z! v4 ^5 I
- // 使能TIM39 C9 y& Y# O1 W" g
- TIM_Cmd(TIM3 , ENABLE);2 P! J/ L' V" ^- w( }) n
- }
复制代码
& }* P7 |# q# R7 y, j4.3 智能车行驶控制
( V1 O% p8 f; ^* B3 |7 D这里简单阐述一下麦克纳姆轮的全向移动原理。# D3 ^1 k) O0 L' r3 o
5 H( ]+ r X: j$ o& X/ Y6 D4 \3 u/ U" f M" l3 z9 m) {$ r
麦克纳姆轮受力分析 . T \; n4 O% h* K% u1 I$ w
5 k) D, S6 O* J& o# R
/ V) ~& W' T$ Y8 v5 J! J图中实线为车轮转动产生的摩擦力,虚线是分力,合成后可知左侧智能车向前移动,右侧智能车向右移动。其他的移动操作,如自转、平移等原理与之相同,就不再赘述。下面列一下不同行驶状态下,各个电机的旋转状态
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f+ F5 O' L& H% o5 ^# c9 P( n/ j6 V
4 T* U, ^7 `0 H b运动状态与电机转向对应表 : s; o* q1 W4 U1 ]6 M
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下面是控制程序
k9 F; |! _2 d3 {4 E6 r' U- // 差值决定快慢,差值越大越快7 E( P Z$ w) [. Y3 e7 x
- // 1、2差值代表左后轮和右前轮的速度;3、4差值代表左前轮和右后轮的速度2 ?" m- S% v9 u& }+ [2 r
- // 1-2为正代表正转,为负代表反转,差值代表速度+ J0 F' `! B+ q
- /*
9 w' u5 n T# q1 Q - *==============================================================================( o* C, y; u) q
- *函数名称:Med_Motor_CarGo
/ M! W4 F* X& P: g1 i - *函数功能:智能车前进# }5 ~! G1 _2 A4 N
- *输入参数:无
1 N" a6 X) Z0 q# e q% g% g; S - *返回值:无
: F- y" h, H; [9 v2 L! x - *备 注:无, C9 a# g- c- q- a% m2 k
- *==============================================================================0 |' Q+ o, Q6 |! h3 k3 W$ E
- */) U3 H; F1 V8 N/ R. f
- void Med_Motor_CarGo (void)
2 i F! K# J+ S4 k6 l& f - {4 n5 Y6 H/ [6 v1 P, \! L
- TIM_SetCompare1(TIM2 , 899);
* f( v5 V$ U, F& V+ s/ H- |+ V; ^. M4 ~ - TIM_SetCompare2(TIM2 , 300);/ Y5 O2 f' j# ?% a
- TIM_SetCompare3(TIM2 , 899);
, n4 U8 x& f& P$ G- O - TIM_SetCompare4(TIM2 , 300);
3 E T, ~8 R- H4 J9 A: q- p2 a -
9 h& l5 ^% O3 q8 Z - TIM_SetCompare1(TIM3 , 899);
& c( k/ S8 g: \& m$ P/ d6 g* ` - TIM_SetCompare2(TIM3 , 300);; f% ^+ U4 j! q N
- TIM_SetCompare3(TIM3 , 899); , p% @) p% e/ w' p- \
- TIM_SetCompare4(TIM3 , 300); : ?" O2 c9 J) }$ Z
- }
; P8 U8 R& {! e& [9 u - /*8 \' o1 F0 D* P5 ?- V# v8 X) j
- *==============================================================================* Z* G' R( ], f3 q
- *函数名称:Med_Motor_CarStop( v' y! j2 m2 m2 w: n
- *函数功能:智能车停止- @2 s3 B& Y2 J1 l/ _. B; J
- *输入参数:无
G w0 p$ }) l( m - *返回值:无
& P& ^& K% p& S2 h7 D, } - *备 注:无) P- m9 W( A/ A U& @
- *==============================================================================1 m- c# n! A& I" E" w! T0 f, y
- */8 c% F6 N6 O- r0 J( A! f1 z2 ]
- void Med_Motor_CarStop (void)+ f0 Y& V" n/ M4 s& ^) C; q% b
- {8 J5 ]6 z3 g1 L
- TIM_SetCompare1(TIM2 , 0); " t( k* C: N8 S1 I8 V. ]7 y
- TIM_SetCompare2(TIM2 , 0);
/ V; e' F2 [- N0 ~ - TIM_SetCompare3(TIM2 , 0); . B0 M( P1 Q# ?1 N0 ?; C" j
- TIM_SetCompare4(TIM2 , 0);& E7 K: N& D, B4 w, A3 V% s
- # \( L7 p% _7 n- T3 S
- TIM_SetCompare1(TIM3 , 0);. G" X7 ~* q. z, m
- TIM_SetCompare2(TIM3 , 0);
: o+ r/ h/ }. m- |$ ?) r( T - TIM_SetCompare3(TIM3 , 0);
3 M5 Y( v+ M1 o - TIM_SetCompare4(TIM3 , 0);
4 B2 N/ f, Y/ A3 ~+ U - }
$ b4 Y6 n. H/ p& m% _ - /*
+ [+ g4 n" E( x8 W# b8 j - *==============================================================================
% `( u- _9 p4 I n/ k) p - *函数名称:Med_Motor_CarBack ?& Q8 Q _9 d$ O
- *函数功能:智能车后退 ]5 J1 u5 {2 q& j) B
- *输入参数:无1 |0 |; _) S4 {; ^% o
- *返回值:无- P: c2 f1 S$ R+ R( ~/ r0 Q5 |
- *备 注:无( k; [0 G% v) D$ P% ~ A, f
- *==============================================================================' K6 Z0 R) Z0 Y: S
- */0 t: `: z2 y8 H# w7 S R0 I
- void Med_Motor_CarBack (void)* f7 q5 m7 b" w J1 B" E. U
- {
2 Q! X3 q' b6 i" ?9 G% ]. h - TIM_SetCompare1(TIM2 , 300);4 g' M3 r8 I5 I$ G: v
- TIM_SetCompare2(TIM2 , 899);# j8 I) l- D% b7 B" Q; Q
- TIM_SetCompare3(TIM2 , 300);
5 d- b+ N/ y" B3 Y1 p- t - TIM_SetCompare4(TIM2 , 899);
/ ^+ `6 d: U; n* \ - " B1 ^3 ~! U0 [
- TIM_SetCompare1(TIM3 , 300);* S* ]1 V( ]5 N: P1 ]
- TIM_SetCompare2(TIM3 , 899);) U3 z* T+ g$ J2 v# M+ `- l' H
- TIM_SetCompare3(TIM3 , 300);
" I+ q; l J1 P0 R2 ]5 L - TIM_SetCompare4(TIM3 , 899);
1 u" f+ Q! o* t/ Y! G F7 ~ - }
; a* O2 D! V4 E$ L - /*! a5 i7 U3 G- K7 U
- *==============================================================================
% S1 @1 A0 m+ T6 ?" N( Q ~8 k - *函数名称:Med_Motor_CarLe
( {$ k: v9 w' W: D0 K p) Q - *函数功能:智能车向左平移
M( i+ H+ d6 _. w- ~, y' ~ - *输入参数:无" {0 |; `* v9 Y6 D# _/ u- ?
- *返回值:无
) [" s: Q9 n( S$ R0 N8 O - *备 注:无
6 H! g8 `, D% }# M8 o - *==============================================================================2 N U: G. j. K- f
- */9 r# `5 P! V8 O& l& m; d4 ?* _
- void Med_Motor_CarLeft (void)
3 T }# G2 P) X, t$ A8 l7 A - {1 f |* A* r( f# A/ v8 }3 X, q
- TIM_SetCompare1(TIM2 , 899);8 m3 Q, |9 A: E; z! g9 C7 j7 f6 C
- TIM_SetCompare2(TIM2 , 300);: f- N2 b2 e7 S3 s, w9 X
- TIM_SetCompare3(TIM2 , 899);
]& g- r9 u9 E. X- L9 J - TIM_SetCompare4(TIM2 , 300);6 H5 T% s7 M+ ~6 X x" p. ^" b
-
1 @7 B" b3 b, N& V - TIM_SetCompare1(TIM3 , 300);
4 [9 j: S9 ^4 p; ]7 R2 h. R - TIM_SetCompare2(TIM3 , 899);
' {9 g( H) N: p7 }. H2 D } - TIM_SetCompare3(TIM3 , 300);
- k6 s! }5 B- P+ x - TIM_SetCompare4(TIM3 , 899);
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x) L' S" B4 d5 b! \ - /*
8 b$ ~! J. N( ]- b% B6 r9 f - *==============================================================================: l/ h% R% i( W0 q! l
- *函数名称:Med_Motor_CarRight
; _9 \) w9 d. o; q4 s/ |: N - *函数功能:智能车向右平移' R, Q. l" V5 G% m9 |- G2 |
- *输入参数:无, v+ o% n. Y, C' R/ ?
- *返回值:无
9 i% ^9 n9 |; C" `- V - *备 注:无/ y6 l/ P: n3 _. ?2 D6 a' R
- *==============================================================================4 e! [8 N5 Z0 q* W4 z3 `' d2 B/ O6 s) |
- */
- h* y% n6 e/ B4 I2 t& ^ - void Med_Motor_CarRight (void)/ Z: g, Z5 W D8 t" X: D
- {/ e& a0 _0 o0 P/ z$ |! @8 s. p
- TIM_SetCompare1(TIM2 , 300);
) }( t* B# @' r9 [6 @+ | - TIM_SetCompare2(TIM2 , 899);
/ T3 S t6 v" g7 e' q5 s9 H: O - TIM_SetCompare3(TIM2 , 300);
: P, o# m0 Y' ` P - TIM_SetCompare4(TIM2 , 899);
' ^/ S2 x* |& x2 V! | - 8 V# u+ `: y$ t" {8 V, Z
- TIM_SetCompare1(TIM3 , 899);
( \' b1 u5 M* ?! |- D - TIM_SetCompare2(TIM3 , 300);; U) n7 B. w& t3 d3 ]
- TIM_SetCompare3(TIM3 , 899);* B5 W0 U! \+ D3 c. ~" E0 w O
- TIM_SetCompare4(TIM3 , 300);$ K' s7 P/ @+ H* [7 y# v
- }/ g! {/ [& _ T: p" d0 q+ Q! P
- /*
% C, H$ s P# V9 E+ [ - *==============================================================================
9 T4 L: Y1 B8 W0 S" { W. w7 h - *函数名称:Med_Motor_ClockwiseRotate
7 u1 I- ]8 @5 w. d0 Y$ J - *函数功能:智能车顺时针自转* \* a* E! x5 r( k( Z
- *输入参数:无
, V7 F, A2 M/ _( B* p) h - *返回值:无
1 l. j) b6 ~8 Z7 {+ E2 z4 x - *备 注:无
% a- G2 \% k" J+ [ - *==============================================================================: W$ A& e: u# \5 i: K: l% m
- */! B8 m) r6 I- R% ^8 ~' X
- void Med_Motor_ClockwiseRotate (void)
* H% @. }6 w# N0 }0 p4 O - {
( n# h8 [# Y# J - TIM_SetCompare1(TIM2 , 300);8 P% ^! k! h" U9 R
- TIM_SetCompare2(TIM2 , 899);4 N0 `0 @8 ]3 i; \! c' C/ R* m5 b
- TIM_SetCompare3(TIM2 , 899); , i+ H, i' s, ^6 G! H1 x
- TIM_SetCompare4(TIM2 , 300);
* G( Q0 r% B4 l( k1 p# E -
+ e3 V4 z7 K6 T* y+ p% F) d% V - TIM_SetCompare1(TIM3 , 300);
* N& u, e* \" ]7 F8 s. b - TIM_SetCompare2(TIM3 , 899);
/ y7 D, N! z: N. d9 _) j) P - TIM_SetCompare3(TIM3 , 899);, X1 j j2 n, U7 ?9 a
- TIM_SetCompare4(TIM3 , 300);/ t3 h- K' ~9 E/ n0 w
- }
: `$ q$ q, q+ W6 S - /*
, v$ j; P7 I0 z |9 J. X6 W - *==============================================================================
7 M4 A' o/ c! H c+ }- ?! i$ `" ? - *函数名称:Med_Motor_CounterClockwiseRotate' C; {) t# W+ D; z$ d O
- *函数功能:智能车逆时针自转1 e) T3 v& e4 v9 R- D% G9 S+ j& X# `1 B
- *输入参数:无8 E( C3 S8 }/ Z
- *返回值:无
( Y" z7 x" C, G5 N - *备 注:无
% \" O( x$ ]8 l; a; m1 [ - *==============================================================================0 ^' ]* K( @; h2 ^$ P
- */
( o R5 A H5 h6 x - void Med_Motor_CounterClockwiseRotate (void)* _# v6 Y1 v$ \3 w
- {
* y9 L% k# E, I5 M: m - TIM_SetCompare1(TIM2 , 899);0 |4 K9 T! ]" B5 p. e: `' }; F
- TIM_SetCompare2(TIM2 , 300);4 z' R3 A# O' z- u
- TIM_SetCompare3(TIM2 , 300); 1 C5 J# h' \" I' H
- TIM_SetCompare4(TIM2 , 899);9 s" n8 \9 U8 N! m9 ?
- 1 n6 p/ z( M2 I' S* [3 _
- TIM_SetCompare1(TIM3 , 899);. u/ I) ?- I- A: W$ M
- TIM_SetCompare2(TIM3 , 300);
4 W. ]3 _6 Y/ V6 }8 q3 d - TIM_SetCompare3(TIM3 , 300);
% v( A- W. t% E2 A8 B+ R; X% U - TIM_SetCompare4(TIM3 , 899);( v0 P b$ R5 e
- }
复制代码 5 X h) y: r3 v+ [! y) v$ U* k) e6 S8 w
五、拓展应用9 w/ s3 {) G1 ~- I6 ~, \( j
知道了L298N的控制和调速方法,我们就能做许多事情。比如利用蓝牙来调整智能车行驶速度。实际原理就是通过蓝牙给配置占空比的函数传入数值,改变占空比,从而达到遥控调节车速的目的。这个在后续的实战项目系列中会有相关介绍。- A, z* ?, ^1 W' S& m; J
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转载自:二土电子( b9 N+ F$ [5 G; M$ C
如有侵权请联系删除: i; x* L4 v' U# A1 i* j
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