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#define GPIO_IN GPIOB
#define GPIO_PWM GPIOA
#define GPIO_Pin_IN1 GPIO_Pin_1
#define GPIO_Pin_IN2 GPIO_Pin_2
#define GPIO_Pin_IN3 GPIO_Pin_5
#define GPIO_Pin_IN4 GPIO_Pin_6
#define GPIO_PWM_A GPIO_Pin_0
#define GPIO_PWM_B GPIO_Pin_1
#define IN1_H GPIO_SetBits(GPIO_IN,GPIO_Pin_IN1);
#define IN1_L GPIO_ResetBits(GPIO_IN,GPIO_Pin_IN1);
#define IN2_H GPIO_SetBits(GPIO_IN,GPIO_Pin_IN2);
#define IN2_L GPIO_ResetBits(GPIO_IN,GPIO_Pin_IN2);
#define IN3_H GPIO_SetBits(GPIO_IN,GPIO_Pin_IN3);
#define IN3_L GPIO_ResetBits(GPIO_IN,GPIO_Pin_IN3);
#define IN4_H GPIO_SetBits(GPIO_IN,GPIO_Pin_IN4);
#define IN4_L GPIO_ResetBits(GPIO_IN,GPIO_Pin_IN4);
#define PWM_A_OFF 1001
#define PWM_B_OFF 1001
#include "pbdata.h"
void TimCounterInit(int rate_1,int rate_2);
void Gpio_PWM_Init(void);
void Gpio_M_Init(void);
void NVIC_Configuration(void);
void TurnLeft(void);
void TurnRight(void);
void straight(void);
void sternway(void);
int A,B;
/****主函數(shù)****/
int main(void)
{
u8 flag=1;
Gpio_PWM_Init();
Gpio_M_Init();
while(flag==1)
{
flag=0;
straight();//直走
delay_ms(1000);
delay_ms(1000);
delay_ms(1000);
TurnLeft();//左轉(zhuǎn)
delay_ms(1000);
delay_ms(500);
straight();
delay_ms(1000);
TurnRight();
delay_ms(1000);
delay_ms(500);
straight();
delay_ms(500);
TurnRight();
delay_ms(1000);
straight();
delay_ms(1000);
delay_ms(1000);
delay_ms(1000);
// /* 回到中線 */
//
// TurnLeft(1.5);
// straight(0.5);
// TurnLeft(0.5);
// straight(4);
// /* 回到中線 */
//
// TurnRight(1.5);
// straight(0.5);
// TurnRight(1);
// straight(2);
//
// /* 回到中線 */
//
// TurnLeft(1.5);
// straight(0.5);
// TurnLeft(1);
// straight(2);
// sternway(1);
TimCounterInit(PWM_A_OFF,PWM_B_OFF);
}
}
void TurnLeft()
{
IN1_H IN2_L
IN3_H IN4_L
A=500;
B=800;
TimCounterInit(A,B);
}
void TurnRight(void)
{
IN1_H IN2_L
IN3_H IN4_L
A=800;
B=500;
TimCounterInit(A,B);
}
void straight(void)
{
IN1_H IN2_L
IN3_H IN4_L
A=600;
B=600;
TimCounterInit(A,B);
}
void sternway(void)
{
IN1_L IN2_H
IN3_L IN4_H
A=700;
B=700;
TimCounterInit(A,B);
}
void Gpio_PWM_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
//以下設(shè)定是將TIM2的通道1(PA0)的復(fù)用功能打開，這很重要很容易被忘掉
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_PWM_A|GPIO_PWM_B; //選擇led1
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //管腳頻率為50MHZ
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //模式為復(fù)用推挽輸出
GPIO_Init(GPIO_PWM, &GPIO_InitStructure); //初始化led1寄存器
}
void Gpio_M_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_IN1|GPIO_Pin_IN2|GPIO_Pin_IN3|GPIO_Pin_IN4; //選擇led1
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //管腳頻率為50MHZ
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIO_IN, &GPIO_InitStructure); //初始化led1寄存器
}
/********************************************************************************************
*函數(shù)名稱：void TimCounterInit(void)
*功能說明：TIM計數(shù)初始化配置
* TIMCLK = 72 MHz, Prescaler = TIM_PSC, TIM counter clock = TIMCLK/TIM_COUNTER MHz
*******************************************************************************************/
void TimCounterInit(int rate_1,int rate_2) //rate可以改變占空比
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* TIM時鐘使能 */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
/* 基定時器初始化 */
TIM_TimeBaseStructure.TIM_Period = 1000000*0.001; //計數(shù)值 1000;須介于0~65535
TIM_TimeBaseStructure.TIM_Prescaler = 72; //分頻系數(shù),為了設(shè)定值數(shù)值較大,這里選得較小
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //時鐘分割：計數(shù)模式中無作用
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //計數(shù)模式,向上計數(shù)
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0; //重復(fù)計數(shù)值
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //初始化TIM
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;//輸出模式設(shè)定
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;//輸出模式使能
TIM_OCInitStructure.TIM_Pulse = rate_1; //設(shè)置占空比，0時全低電平，1001時全高電平.須介于0~65535
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;//輸出比較極性;最終輸出值是高/低電平
TIM_OC1Init(TIM2, &TIM_OCInitStructure);//輸出通道x，參數(shù)寫入
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);//使能通道x預(yù)裝載寄存器
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;//輸出模式設(shè)定
TIM_OCInitStructure.TIM_Pulse = rate_2; //設(shè)置占空比，0時全低電平，1001時全高電平.須介于0~65535
TIM_OC2Init(TIM2, &TIM_OCInitStructure);//輸出通道x，參數(shù)寫入
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);//使能通道x預(yù)裝載寄存器
TIM_Cmd(TIM2, ENABLE); //使能TIM
}

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