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motor.c
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motor.c
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#include"stm32f10x.h"
extern u32 total_distance;
extern u8 circle_direction;
extern u8 line_no;
s16 cmp_counter=0;
u8 count_flag=1;
u8 turn_flag=0;
u8 turn_count=0;
/****************************
* PB0,PWM输出
****************************/
void motor_init()
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TimOCInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; //控制电机方向
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; //控制电机方向
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
TIM_DeInit(TIM3);
TIM_InternalClockConfig(TIM3);
//预分频系数为72，这样计数器时钟为72MHz/72 = 1MHz
TIM_TimeBaseStructure.TIM_Prescaler = 72;
//设置时钟分割
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
//设置计数器模式为向上计数模式
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
//设置计数溢出大小，每计1000个数就产生一个更新事件
TIM_TimeBaseStructure.TIM_Period = 1000-1;
//将配置应用到TIM1中
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);
//禁止ARR预装载缓冲器
TIM_ARRPreloadConfig(TIM3, DISABLE);
TIM_Cmd(TIM3, DISABLE); //失能TIMx外设
//设置缺省值
TIM_OCStructInit(&TimOCInitStructure);
//PWM模式1输出
TimOCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
//设置占空比，占空比=(CCRx/ARR)*100%或(TIM_Pulse/TIM_Period)*100%
TimOCInitStructure.TIM_Pulse = 500-1;
//TIM输出比较极性高
TimOCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
//使能输出状态
TimOCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
//TimOCInitStructure.TIM_Channel = TIM_Channel_4;
//TIM1的CH4输出
TIM_OC3Init(TIM3, &TimOCInitStructure);
//TIM_OC4Init(TIM1, &TimOCInitStructure);
//设置TIM2的PWM输出为使能
TIM_CtrlPWMOutputs(TIM3,ENABLE);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
NVIC_InitStructure.NVIC_IRQChannel=TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void motor_start()
{
TIM_Cmd(TIM3, ENABLE); //使能TIMx外设
}
void motor_stop()
{
TIM_Cmd(TIM3, DISABLE); //失能TIMx外设
TIM_ITConfig(TIM3,TIM_IT_CC3,DISABLE);
}
void forward_count(s16 count)
{
count_flag=1;
cmp_counter = count;
GPIO_WriteBit(GPIOB,GPIO_Pin_1,SET);
GPIO_WriteBit(GPIOB,GPIO_Pin_5,RESET);
TIM_ITConfig(TIM3,TIM_IT_CC3,ENABLE);
TIM_Cmd(TIM3, ENABLE); //使能TIMx外设
while(cmp_counter>=0);
TIM_Cmd(TIM3, DISABLE); //失能TIMx外设
TIM_ITConfig(TIM3,TIM_IT_CC3,DISABLE);
}
void forward()
{
count_flag=1;
GPIO_WriteBit(GPIOB,GPIO_Pin_1,SET);
GPIO_WriteBit(GPIOB,GPIO_Pin_5,RESET);
TIM_ITConfig(TIM3,TIM_IT_CC3,ENABLE);
TIM_Cmd(TIM3, ENABLE); //使能TIMx外设
}
void left_count(s16 count)
{
count_flag=0;
cmp_counter = count;
GPIO_WriteBit(GPIOB,GPIO_Pin_1,RESET);
GPIO_WriteBit(GPIOB,GPIO_Pin_5,RESET);
TIM_ITConfig(TIM3,TIM_IT_CC3,ENABLE);
TIM_Cmd(TIM3,ENABLE);
while(cmp_counter>=0);
TIM_Cmd(TIM3,DISABLE);
TIM_ITConfig(TIM3,TIM_IT_CC3,DISABLE);
}
void left()
{
count_flag=0;
GPIO_WriteBit(GPIOB,GPIO_Pin_1,RESET);
GPIO_WriteBit(GPIOB,GPIO_Pin_5,RESET);
TIM_ITConfig(TIM3,TIM_IT_CC3,ENABLE);
TIM_Cmd(TIM3, ENABLE); //使能TIMx外设
}
void right_count(s16 count)
{
count_flag=0;
cmp_counter = count;
GPIO_WriteBit(GPIOB,GPIO_Pin_1,SET);
GPIO_WriteBit(GPIOB,GPIO_Pin_5,SET);
TIM_ITConfig(TIM3,TIM_IT_CC3,ENABLE);
TIM_Cmd(TIM3,ENABLE);
while(cmp_counter>=0);
TIM_Cmd(TIM3,DISABLE);
TIM_ITConfig(TIM3,TIM_IT_CC3,DISABLE);
}
void right()
{
count_flag=0;
GPIO_WriteBit(GPIOB,GPIO_Pin_1,SET);
GPIO_WriteBit(GPIOB,GPIO_Pin_5,SET);
TIM_ITConfig(TIM3,TIM_IT_CC3,ENABLE);
TIM_Cmd(TIM3, ENABLE); //使能TIMx外设
}
void backward_count(s16 count)
{
count_flag=1;
cmp_counter = count;
GPIO_WriteBit(GPIOB,GPIO_Pin_1,RESET);
GPIO_WriteBit(GPIOB,GPIO_Pin_5,SET);
TIM_ITConfig(TIM3,TIM_IT_CC3,ENABLE);
TIM_Cmd(TIM3, ENABLE); //使能TIMx外设
while(cmp_counter>=0);
TIM_Cmd(TIM3, DISABLE); //失能TIMx外设
TIM_ITConfig(TIM3,TIM_IT_CC3,DISABLE);
}
void backward()
{
count_flag=1;
GPIO_WriteBit(GPIOB,GPIO_Pin_1,RESET);
GPIO_WriteBit(GPIOB,GPIO_Pin_5,SET);
TIM_ITConfig(TIM3,TIM_IT_CC3,ENABLE);
TIM_Cmd(TIM3, ENABLE); //使能TIMx外设
}
void TIM3_IRQHandler()
{
if(TIM_GetITStatus(TIM3, TIM_IT_CC3) != RESET)
{
cmp_counter--;
if(count_flag==1)
{
total_distance++;
}
}
TIM_ClearITPendingBit(TIM3, TIM_IT_CC3);
}
void trace_gpio_init() //光电开关 GPIOD
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD, ENABLE);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2|GPIO_Pin_3|GPIO_Pin_4|GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOD, &GPIO_InitStructure);
}
void trace_single_line()
{
if((GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_3) == Bit_SET)&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_4) == Bit_RESET))
{
turn_count=0;
left_count(10);
}
else if((GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_3) == Bit_RESET)&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_4) == Bit_SET))
{
turn_count=0;
right_count(10);
}
else if((GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_3) == Bit_SET)&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_4) == Bit_SET)
&&(!((GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_2) == Bit_SET)&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_5) == Bit_SET))))
{
turn_count=0;
forward();
}
else if((GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_3) == Bit_RESET)&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_4) == Bit_RESET))
{
if(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_2) == Bit_SET)
{
turn_count=0;
left_count(20);
}
else if(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_5) == Bit_SET)
{
turn_count=0;
right_count(20);
}
}
else if((GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_2) == Bit_RESET)&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_3) == Bit_RESET)
&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_4) == Bit_RESET)&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_5) == Bit_RESET))
{
forward();
}
}
void trace_search()
{
if((GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_2) == Bit_SET)&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_3) == Bit_SET)
&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_4) == Bit_SET)&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_5) == Bit_SET))
{
turn_count=0;
forward_count(400);
right_count(850);
line_no=(line_no+1)%4;
while((GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_2) == Bit_SET)&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_3) == Bit_SET)
&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_4) == Bit_SET)&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_5) == Bit_SET))
forward();
motor_stop();
}
else
{
trace_single_line();
}
}
void search_gpio_init()
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD, ENABLE);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOD, &GPIO_InitStructure);
}
void store()
{
exti_disable();
left_count(425);
backward_count(1000);
put_down();
up();
backward_count(300);
right_count(425);
forward_count(900);
right_count(850);
exti_init();
}
void goto_store()
{
forward();
while((GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_2) == Bit_RESET)&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_3) == Bit_RESET)
&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_4) == Bit_RESET)&&(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_5) == Bit_RESET));
forward_count(400);
motor_stop();
right_count(850);
while((GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_2) == Bit_RESET)||(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_3) == Bit_RESET)
||(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_4) == Bit_RESET)||(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_5) == Bit_RESET))
{
trace_single_line();
}
forward_count(400);
motor_stop();
store();
}
void find_gpio_init() //寻找方块
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD, ENABLE);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOD, &GPIO_InitStructure);
}