stm32mini想實現(xiàn)藍牙與按鍵部分同時控制舵機的轉(zhuǎn)動
現(xiàn)在單獨使用藍牙控制舵機或者單獨使用按鍵模塊的轉(zhuǎn)動都是正常運轉(zhuǎn)的，但當把按鍵模塊的代碼與藍牙模塊的代碼相結合時，舵機亂轉(zhuǎn)，或者壓根就不轉(zhuǎn)。不知是哪里出現(xiàn)了問題呢？請各位大神幫忙解決一下這個疑惑，非常感激。
圖1 藍牙單獨控制舵機的主程序部分#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "timer.h"
extern u8 res;
int main(void)
{
int len;
int t;
int i;
delay_init(); //延時函數(shù)初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //設置NVIC中斷分組2:2位搶占優(yōu)先級，2位響應優(yōu)先級
uart_init(115200); //串口初始化為115200
My_USART2_Init();
TIM1_PWM_Init(199,7199); //不分頻。T為20ms，這樣的配置就是為了讓輸出的PWM信號達到舵機要求的20ms周期。
while(1)
{
if(res=='1'){TIM_SetCompare2(TIM3,175);delay_ms(1000);}
if(res=='2'){TIM_SetCompare2(TIM3,180);delay_ms(1000);}
if(res=='3'){TIM_SetCompare2(TIM3,185);delay_ms(1000);}
if(res=='4'){TIM_SetCompare2(TIM3,190);delay_ms(1000);}
if(res=='5'){TIM_SetCompare2(TIM3,195);delay_ms(1000);}
if(res=='A'){TIM_SetCompare3(TIM3,175);delay_ms(1000);}
if(res=='B'){TIM_SetCompare3(TIM3,180);delay_ms(1000);}
if(res=='C'){TIM_SetCompare3(TIM3,185);delay_ms(1000);}
if(res=='D'){TIM_SetCompare3(TIM3,190);delay_ms(1000);}
if(res=='E'){TIM_SetCompare3(TIM3,195);delay_ms(1000);}
}
}
圖2 單片機的按鍵模塊單獨控制兩個舵機轉(zhuǎn)動的主程序部分
#include "delay.h"
#include "sys.h"
#include "pwm.h"
#include "usart.h"
#include "stm32f10x.h"
#include "key.h"
#define key1 PCin(5) //KEY1按鍵
#define key2 PAin(15) //KEY0按鍵
#define key3 PAin(0) //wk_up按鍵
u16 cout;
u16 couts;
int main(void)
{
cout=50;
couts=50;
KEY_Init();
delay_init();
TIM3_PWM_Init(1999,719);
while(1)
{
if(key3==0&&key1==0) //key1??,????????
{
if(key1==0)
{
delay_ms(5);
cout+=5; } }
else if(key3==1&&key1==0) //key1?key3????,??????
{
delay_ms(5);
cout-=5; }
if(key3==0&&key2==0) //key2??,????????
{
delay_ms(5);
couts+=5;}
else if(key3==1&&key2==0) //key2?key3????,??????
{
delay_ms(5);
couts-=5;
}
TIM_SetCompare2(TIM3,cout); //PWM??
TIM_SetCompare3(TIM3,couts);
delay_ms(50);
}
}
圖3、4 按鍵部分與藍牙部分相結合（無法實現(xiàn)）
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "timer.h"
#define key1 PCin(5)
#define key2 PAin(15)
#define key3 PAin(0)
extern u8 res;
int main(void)
{
u16 cout=50;
u16 couts=50;
KEY_Init();
delay_init();
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
uart_init(115200);
My_USART2_Init();
TIM1_PWM_Init(199,7199);
while(1)
{
if(key3==0&&key1==0) //key1??,????????
{ if(key1==0)
{ delay_ms(5);
cout+=5; } }
else if(key3==1&&key1==0) //key1?key3????,??????
{ delay_ms(5);
cout-=5; }
if(key3==0&&key2==0) //key2??,????????
{ delay_ms(5);
couts+=5;}
else if(key3==1&&key2==0) //key2?key3????,??????
{
delay_ms(5);
couts-=5; }
TIM_SetCompare2(TIM3,cout); //PWM??
TIM_SetCompare3(TIM3,couts);
delay_ms(50);
}
}
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