MADAO/ManGoWalk_STM32
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add Motor function

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MADAO
2025-06-28 22:33:16 +08:00
parent 9ca28fd516
commit 88103d9eee
28 changed files with 562 additions and 262 deletions
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86
fun/Motor.c Normal file
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#include "Motor.h"
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
/*******
PWMA --- TIM4_CHANNEL4
PMWB --- TIM3_CHANNEL4
STBY --- 5V Ĭ<><C4AC>5V <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
*******/
void PWM_GPIO_TIM_Init(void)
{
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_4);
}
void MotorA_Dir(uint8_t dir)
{
if(0 == dir) // ǰ<><C7B0>
{
HAL_GPIO_WritePin(AIN1_GPIO_Port,AIN1_Pin,GPIO_PIN_SET);
HAL_GPIO_WritePin(AIN2_GPIO_Port,AIN2_Pin,GPIO_PIN_RESET);
}
else // <20><>ת
{
HAL_GPIO_WritePin(AIN1_GPIO_Port,AIN1_Pin,GPIO_PIN_RESET);
HAL_GPIO_WritePin(AIN2_GPIO_Port,AIN2_Pin,GPIO_PIN_SET);
}
}
void MotorB_Dir(uint8_t dir)
{
if(0 == dir) // ǰ<><C7B0>
{
HAL_GPIO_WritePin(BIN1_GPIO_Port,BIN1_Pin,GPIO_PIN_SET);
HAL_GPIO_WritePin(BIN2_GPIO_Port,BIN2_Pin,GPIO_PIN_RESET);
}
else // <20><>ת
{
HAL_GPIO_WritePin(BIN1_GPIO_Port,BIN1_Pin,GPIO_PIN_RESET);
HAL_GPIO_WritePin(BIN2_GPIO_Port,BIN2_Pin,GPIO_PIN_SET);
}
}
// <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>A<EFBFBD><41><EFBFBD>ٶ<EFBFBD>
void MotorA_Speed(uint8_t speed)
{
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_4,speed);
}
// <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>B<EFBFBD><42><EFBFBD>ٶ<EFBFBD>
void MotorB_Speed(uint8_t speed)
{
__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_4,speed);
}
// ʾ<><CABE> ͬʱ<CDAC><CAB1><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>A/B
// <20><>ʾ <20><><EFBFBD><EFBFBD> Dir 0 ---- ǰ<><C7B0> go forward
// <20><><EFBFBD><EFBFBD> Dir 1 ---- <20><><EFBFBD><EFBFBD> go forward
void DriveBOTH(int16_t speedA,int16_t speedB)
{
// <20><><EFBFBD><EFBFBD> A
if (speedA >= 0) MotorA_Dir(0);
else
{
MotorA_Dir(1);
speedA = -speedA;
}
MotorA_Speed(speedA);
// <20><><EFBFBD><EFBFBD> B
if (speedB >= 0) MotorA_Dir(0);
else
{
MotorB_Dir(1);
speedB = -speedB;
}
MotorA_Speed(speedB);
}