本文介绍了如何制作一个使用stm32系统板,利用双电机差速实现运动的船。
最终效果见CubeMars首届赛博龙舟| 大学生超快造船_哔哩哔哩_bilibili
可实现10米内遥控
电控系统材料清单,此项成本约270(外观材料可利用泡沫板材料制作,节省成本):
1.以下为接线图
2.以下为代码部分,建议学习stm32后使用
STM32入门教程-2023版 细致讲解 中文字幕_哔哩哔哩_bilibili:
至少到P20 【6-8】
使用Keil5软件编写程序
main.c
#include "stm32f10x.h" // Device header
#include "Delay.h"
#include "OLED.h"
#include "Motor.h"
#include "Key.h"
#include "LED.h"
uint8_t KeyNum;
uint8_t Scount=0;
//注意范围
int8_t Speed;
int8_t Speed2;
int main(void)
{
OLED_Init();
MotorAll_Init();
Key_Init();
LED_Init();
OLED_ShowString(1,1,"Speed:");
OLED_ShowString(3,1,"Speed2:");
while(1)
{
KeyNum = Key_GetNum();
if(KeyNum==1){
Speed = 0;
Speed2 = 0;
Scount = 0;
LED1_OFF();
LED2_OFF();
}
if(KeyNum==2){
Speed = 100;
Speed2 = -100;
LED2_ON();
LED1_OFF();
}
if(KeyNum==3)
{
Scount += 1;
if((Scount+2)%2==0)
{
Speed = 75;
Speed2 = 75;
LED1_ON();
LED2_OFF();
}
if((Scount +3)%4 == 0)
{
Speed = 31;
Speed2 = 37;
LED1_OFF();
LED2_OFF();
}
if((Scount +1)%4 == 0)
{
Speed = 100;
Speed2 = 100;
LED1_ON();
LED2_ON();
}
}
if(KeyNum==4){
Speed = -45;
Speed2 = -45;
}
if(KeyNum==5){
Speed += 2;
if(Speed>100)
{
Speed = 100;
}
}
if(KeyNum==6){
Speed -= 2;
}
if(KeyNum==7){
Speed2 += 2;
if(Speed2>99)
{
Speed2 = 100;
}
}
if(KeyNum==8){
Speed2 -= 2;
}
MotorL_SetSpeed(Speed);
OLED_ShowSignedNum(2,1,Speed,4);
MotorR_SetSpeed(Speed2);
OLED_ShowSignedNum(4,1,Speed2,4);
}
}
PWM.c
#include "stm32f10x.h" // Device header
void PWM_Init(void)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&GPIO_InitStructure);
TIM_InternalClockConfig(TIM2);//调用内部时钟
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
TIM_TimeBaseInitStruct.TIM_ClockDivision =TIM_CKD_DIV1 ;
TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up ;
TIM_TimeBaseInitStruct.TIM_Period = 100-1;//自动重装(刚好1s)越小变越快 ARR
TIM_TimeBaseInitStruct.TIM_Prescaler = 36-1;//预分频(对72M进行7200分频=10000)越小变越快 PSC
TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;//高级计时器才有
TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStruct);
TIM_OCInitTypeDef TIM_OCInitStruct;
TIM_OCStructInit(&TIM_OCInitStruct);//先赋初始值
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1 ;
TIM_OCInitStruct.TIM_OCPolarity = TIM_OCNPolarity_High;
TIM_OCInitStruct.TIM_OutputState =TIM_OutputState_Enable ;
TIM_OCInitStruct.TIM_Pulse = 0; //CCR
TIM_OC1Init(TIM2,&TIM_OCInitStruct);
TIM_OC2Init(TIM2,&TIM_OCInitStruct);
TIM_Cmd(TIM2,ENABLE);
}
void PWM_SetCompare1(uint16_t Compare)
{
TIM_SetCompare1(TIM2,Compare);
}
void PWM_SetCompare2(uint16_t Compare)
{
TIM_SetCompare2(TIM2,Compare);
}
Motor.c
#include "stm32f10x.h" // Device header
#include "PWM.h"
void MotorAll_Init(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6| GPIO_Pin_7;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&GPIO_InitStructure);
PWM_Init();
}
void MotorL_SetSpeed(int8_t Speed)
{
if(Speed>=0)
{
GPIO_SetBits(GPIOA,GPIO_Pin_6);
GPIO_ResetBits(GPIOA,GPIO_Pin_7);
PWM_SetCompare2(Speed);
}
else
{
GPIO_SetBits(GPIOA,GPIO_Pin_7);
GPIO_ResetBits(GPIOA,GPIO_Pin_6);
PWM_SetCompare2(-Speed);
}
}
void MotorR_SetSpeed(int8_t Speed2)
{
if(Speed2>=0)
{
GPIO_SetBits(GPIOA,GPIO_Pin_4);
GPIO_ResetBits(GPIOA,GPIO_Pin_5);
PWM_SetCompare1(Speed2);
}
else
{
GPIO_SetBits(GPIOA,GPIO_Pin_5);
GPIO_ResetBits(GPIOA,GPIO_Pin_4);
PWM_SetCompare1(-Speed2);
}
}
Delay.c
#include "stm32f10x.h"
/**
* @brief 微秒级延时
* @param xus 延时时长,范围:0~233015
* @retval 无
*/
void Delay_us(uint32_t xus)
{
SysTick->LOAD = 72 * xus; //设置定时器重装值
SysTick->VAL = 0x00; //清空当前计数值
SysTick->CTRL = 0x00000005; //设置时钟源为HCLK,启动定时器
while(!(SysTick->CTRL & 0x00010000)); //等待计数到0
SysTick->CTRL = 0x00000004; //关闭定时器
}
/**
* @brief 毫秒级延时
* @param xms 延时时长,范围:0~4294967295
* @retval 无
*/
void Delay_ms(uint32_t xms)
{
while(xms--)
{
Delay_us(1000);
}
}
/**
* @brief 秒级延时
* @param xs 延时时长,范围:0~4294967295
* @retval 无
*/
void Delay_s(uint32_t xs)
{
while(xs--)
{
Delay_ms(1000);
}
}
Key.c
#include "stm32f10x.h" // Device header
#include "Delay.h"
void Key_Init(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_11;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB,&GPIO_InitStructure);
}
uint8_t Key_GetNum(void)
{
uint8_t KeyNum = 0;
if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_1)==0)
{
Delay_ms(20);
while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_1) ==0);
KeyNum = 1;
}
if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_11)==0)
{
Delay_ms(20);
while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_11) ==0);
KeyNum = 2;
}
if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_0)==0)
{
Delay_ms(20);
while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_0) ==0);
KeyNum = 3;
}
if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_10)==0)
{
Delay_ms(20);
while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_10) ==0);
KeyNum = 4;
}
if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_12)==0)
{
Delay_ms(20);
while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_12) ==0);
KeyNum = 5;
}
if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_13)==0)
{
Delay_ms(20);
while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_13) ==0);
KeyNum = 6;
}
if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_14)==0)
{
Delay_ms(20);
while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_14) ==0);
KeyNum = 7;
}
if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_15)==0)
{
Delay_ms(20);
while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_15) ==0);
KeyNum = 8;
}
return KeyNum;
}
LED.c(可无)
#include "stm32f10x.h" // Device header
void LED_Init(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&GPIO_InitStructure);
GPIO_SetBits(GPIOA,GPIO_Pin_11 | GPIO_Pin_12);
}
void LED1_ON(void)
{
GPIO_ResetBits(GPIOA,GPIO_Pin_11);
}
void LED1_OFF(void)
{
GPIO_SetBits(GPIOA,GPIO_Pin_11);
}
void LED1_Turn(void)
{
if(GPIO_ReadOutputDataBit(GPIOA,GPIO_Pin_11)==0)
{
GPIO_SetBits(GPIOA,GPIO_Pin_11);
}
else
{GPIO_ResetBits(GPIOA,GPIO_Pin_11);}
}
void LED2_ON(void)
{
GPIO_ResetBits(GPIOA,GPIO_Pin_12);
}
void LED2_OFF(void)
{
GPIO_SetBits(GPIOA,GPIO_Pin_12);
}
void LED2_Turn(void)
{
if(GPIO_ReadOutputDataBit(GPIOA,GPIO_Pin_12)==0)
{
GPIO_SetBits(GPIOA,GPIO_Pin_12);
}
else
{GPIO_ResetBits(GPIOA,GPIO_Pin_12);}
}
OLED.c(源于江科大STM32教程资源)
#include "stm32f10x.h"
#include "OLED_Font.h"
/*引脚配置*/
#define OLED_W_SCL(x) GPIO_WriteBit(GPIOB, GPIO_Pin_8, (BitAction)(x))
#define OLED_W_SDA(x) GPIO_WriteBit(GPIOB, GPIO_Pin_9, (BitAction)(x))
/*引脚初始化*/
void OLED_I2C_Init(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_Init(GPIOB, &GPIO_InitStructure);
OLED_W_SCL(1);
OLED_W_SDA(1);
}
/**
* @brief I2C开始
* @param 无
* @retval 无
*/
void OLED_I2C_Start(void)
{
OLED_W_SDA(1);
OLED_W_SCL(1);
OLED_W_SDA(0);
OLED_W_SCL(0);
}
/**
* @brief I2C停止
* @param 无
* @retval 无
*/
void OLED_I2C_Stop(void)
{
OLED_W_SDA(0);
OLED_W_SCL(1);
OLED_W_SDA(1);
}
/**
* @brief I2C发送一个字节
* @param Byte 要发送的一个字节
* @retval 无
*/
void OLED_I2C_SendByte(uint8_t Byte)
{
uint8_t i;
for (i = 0; i < 8; i++)
{
OLED_W_SDA(Byte & (0x80 >> i));
OLED_W_SCL(1);
OLED_W_SCL(0);
}
OLED_W_SCL(1); //额外的一个时钟,不处理应答信号
OLED_W_SCL(0);
}
/**
* @brief OLED写命令
* @param Command 要写入的命令
* @retval 无
*/
void OLED_WriteCommand(uint8_t Command)
{
OLED_I2C_Start();
OLED_I2C_SendByte(0x78); //从机地址
OLED_I2C_SendByte(0x00); //写命令
OLED_I2C_SendByte(Command);
OLED_I2C_Stop();
}
/**
* @brief OLED写数据
* @param Data 要写入的数据
* @retval 无
*/
void OLED_WriteData(uint8_t Data)
{
OLED_I2C_Start();
OLED_I2C_SendByte(0x78); //从机地址
OLED_I2C_SendByte(0x40); //写数据
OLED_I2C_SendByte(Data);
OLED_I2C_Stop();
}
/**
* @brief OLED设置光标位置
* @param Y 以左上角为原点,向下方向的坐标,范围:0~7
* @param X 以左上角为原点,向右方向的坐标,范围:0~127
* @retval 无
*/
void OLED_SetCursor(uint8_t Y, uint8_t X)
{
OLED_WriteCommand(0xB0 | Y); //设置Y位置
OLED_WriteCommand(0x10 | ((X & 0xF0) >> 4)); //设置X位置高4位
OLED_WriteCommand(0x00 | (X & 0x0F)); //设置X位置低4位
}
/**
* @brief OLED清屏
* @param 无
* @retval 无
*/
void OLED_Clear(void)
{
uint8_t i, j;
for (j = 0; j < 8; j++)
{
OLED_SetCursor(j, 0);
for(i = 0; i < 128; i++)
{
OLED_WriteData(0x00);
}
}
}
/**
* @brief OLED显示一个字符
* @param Line 行位置,范围:1~4
* @param Column 列位置,范围:1~16
* @param Char 要显示的一个字符,范围:ASCII可见字符
* @retval 无
*/
void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char)
{
uint8_t i;
OLED_SetCursor((Line - 1) * 2, (Column - 1) * 8); //设置光标位置在上半部分
for (i = 0; i < 8; i++)
{
OLED_WriteData(OLED_F8x16[Char - ' '][i]); //显示上半部分内容
}
OLED_SetCursor((Line - 1) * 2 + 1, (Column - 1) * 8); //设置光标位置在下半部分
for (i = 0; i < 8; i++)
{
OLED_WriteData(OLED_F8x16[Char - ' '][i + 8]); //显示下半部分内容
}
}
/**
* @brief OLED显示字符串
* @param Line 起始行位置,范围:1~4
* @param Column 起始列位置,范围:1~16
* @param String 要显示的字符串,范围:ASCII可见字符
* @retval 无
*/
void OLED_ShowString(uint8_t Line, uint8_t Column, char *String)
{
uint8_t i;
for (i = 0; String[i] != '\0'; i++)
{
OLED_ShowChar(Line, Column + i, String[i]);
}
}
/**
* @brief OLED次方函数
* @retval 返回值等于X的Y次方
*/
uint32_t OLED_Pow(uint32_t X, uint32_t Y)
{
uint32_t Result = 1;
while (Y--)
{
Result *= X;
}
return Result;
}
/**
* @brief OLED显示数字(十进制,正数)
* @param Line 起始行位置,范围:1~4
* @param Column 起始列位置,范围:1~16
* @param Number 要显示的数字,范围:0~4294967295
* @param Length 要显示数字的长度,范围:1~10
* @retval 无
*/
void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{
uint8_t i;
for (i = 0; i < Length; i++)
{
OLED_ShowChar(Line, Column + i, Number / OLED_Pow(10, Length - i - 1) % 10 + '0');
}
}
/**
* @brief OLED显示数字(十进制,带符号数)
* @param Line 起始行位置,范围:1~4
* @param Column 起始列位置,范围:1~16
* @param Number 要显示的数字,范围:-2147483648~2147483647
* @param Length 要显示数字的长度,范围:1~10
* @retval 无
*/
void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length)
{
uint8_t i;
uint32_t Number1;
if (Number >= 0)
{
OLED_ShowChar(Line, Column, '+');
Number1 = Number;
}
else
{
OLED_ShowChar(Line, Column, '-');
Number1 = -Number;
}
for (i = 0; i < Length; i++)
{
OLED_ShowChar(Line, Column + i + 1, Number1 / OLED_Pow(10, Length - i - 1) % 10 + '0');
}
}
/**
* @brief OLED显示数字(十六进制,正数)
* @param Line 起始行位置,范围:1~4
* @param Column 起始列位置,范围:1~16
* @param Number 要显示的数字,范围:0~0xFFFFFFFF
* @param Length 要显示数字的长度,范围:1~8
* @retval 无
*/
void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{
uint8_t i, SingleNumber;
for (i = 0; i < Length; i++)
{
SingleNumber = Number / OLED_Pow(16, Length - i - 1) % 16;
if (SingleNumber < 10)
{
OLED_ShowChar(Line, Column + i, SingleNumber + '0');
}
else
{
OLED_ShowChar(Line, Column + i, SingleNumber - 10 + 'A');
}
}
}
/**
* @brief OLED显示数字(二进制,正数)
* @param Line 起始行位置,范围:1~4
* @param Column 起始列位置,范围:1~16
* @param Number 要显示的数字,范围:0~1111 1111 1111 1111
* @param Length 要显示数字的长度,范围:1~16
* @retval 无
*/
void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{
uint8_t i;
for (i = 0; i < Length; i++)
{
OLED_ShowChar(Line, Column + i, Number / OLED_Pow(2, Length - i - 1) % 2 + '0');
}
}
/**
* @brief OLED初始化
* @param 无
* @retval 无
*/
void OLED_Init(void)
{
uint32_t i, j;
for (i = 0; i < 1000; i++) //上电延时
{
for (j = 0; j < 1000; j++);
}
OLED_I2C_Init(); //端口初始化
OLED_WriteCommand(0xAE); //关闭显示
OLED_WriteCommand(0xD5); //设置显示时钟分频比/振荡器频率
OLED_WriteCommand(0x80);
OLED_WriteCommand(0xA8); //设置多路复用率
OLED_WriteCommand(0x3F);
OLED_WriteCommand(0xD3); //设置显示偏移
OLED_WriteCommand(0x00);
OLED_WriteCommand(0x40); //设置显示开始行
OLED_WriteCommand(0xA1); //设置左右方向,0xA1正常 0xA0左右反置
OLED_WriteCommand(0xC8); //设置上下方向,0xC8正常 0xC0上下反置
OLED_WriteCommand(0xDA); //设置COM引脚硬件配置
OLED_WriteCommand(0x12);
OLED_WriteCommand(0x81); //设置对比度控制
OLED_WriteCommand(0xCF);
OLED_WriteCommand(0xD9); //设置预充电周期
OLED_WriteCommand(0xF1);
OLED_WriteCommand(0xDB); //设置VCOMH取消选择级别
OLED_WriteCommand(0x30);
OLED_WriteCommand(0xA4); //设置整个显示打开/关闭
OLED_WriteCommand(0xA6); //设置正常/倒转显示
OLED_WriteCommand(0x8D); //设置充电泵
OLED_WriteCommand(0x14);
OLED_WriteCommand(0xAF); //开启显示
OLED_Clear(); //OLED清屏
}
以上代码Header头文件就不赘诉了
3.PS2学习可见
【STM32】SPI与PS2手柄解码(CUBEMX+HAL库)_stm32 spi hal ps2手柄-CSDN博客
PS2代码后期可能会开源,目前博主正在学习中~
4.共同作者:czy ,GA
2 0 2 4 年 6 月 5 日