串口控制六轴机械臂

利用串口回调函数接收电脑发送的数据，在回调函数中进行判断，机械臂进行相对移动

初值之后接收数组

MAX配置：NVIC开启

                   TIM:79/19999

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
!!!
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
unsigned int i;
unsigned int j;
unsigned int k;
unsigned int p;
unsigned int q;
unsigned int o;

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
!!!
uint8_t ACKBuf[4]={1,2,3,4};
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM3_Init();
  MX_USART1_UART_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
  j=500;                         				//1
  i=500;										//2
  k=500;										//3
  p=500;                                        //4
  q=500;                                        //5
  o=500;                                        //6

 !!! //�?启一次接收中�?

//------------------------------------定时器三------------------------------------------------
  HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);      //�?号舵�?
    __HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_1,500);

  HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2);      //二号舵机
    __HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_2,1800);

  HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_1);      //三号舵机
    __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_1,1500);

  HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_2);      //四号舵机
    __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_2,500);

  HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_3);      //四号舵机
   __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_3,900);

  HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_4);      //四号舵机
   __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_4,500);

//------------------------------------定时器四------------------------------------------------
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
    if(huart == &huart1)
    {
//------------------------------------�?号舵机�?��?�底座i------------------------------------------------
		if(RxBuf[1]=='1')
		{
    	    if(RxBuf[0]=='1')
			{
			  __HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_1,i+=250);
			  HAL_UART_Transmit_IT(&huart1,i,sizeof(i));
			}

			if(RxBuf[0]=='2')//21
			{
			HAL_UART_Transmit_IT(&huart1,ACKBuf,sizeof(ACKBuf));
			 __HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_1,i-=250);
			}
		}
//------------------------------------二号舵机—�?�臂五j------------------------------------------------
		else if(RxBuf[1]=='2')
		{
		    if(RxBuf[0]=='1')//12
			{
			HAL_UART_Transmit_IT(&huart1,ACKBuf,sizeof(ACKBuf));
			 __HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_2,j+=250);

			}

			if(RxBuf[0]=='2')//22
			{
			 HAL_UART_Transmit_IT(&huart1,ACKBuf,sizeof(ACKBuf));
			__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_2,j-=250);

			}
		}
 //------------------------------------三号舵机—�?�臂四k------------------------------------------------
      else if(RxBuf[1]=='3')
    		{
		      if(RxBuf[0]=='1')//13
    		  {
    		   HAL_UART_Transmit_IT(&huart1,ACKBuf,sizeof(ACKBuf));
    		   __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_1,k+=250);
    		   }
    		  if(RxBuf[0]=='2')//23
    	       {
    			HAL_UART_Transmit_IT(&huart1,ACKBuf,sizeof(ACKBuf));
    			__HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_1,k-=250);
    		   }
    		}
//------------------------------------四号舵机—�?�臂三p·------------------------------------------------
      else if(RxBuf[1]=='4')
		{
		            if(RxBuf[0]=='1')//14
    				{
    				HAL_UART_Transmit_IT(&huart1,ACKBuf,sizeof(ACKBuf));
    				__HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_2,p+=350);
    				}
    				if(RxBuf[0]=='2')//24
    				{
    				HAL_UART_Transmit_IT(&huart1,ACKBuf,sizeof(ACKBuf));
    				__HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_2,p-=350);
    				}
    	    }
//------------------------------------五号舵机—�?�臂三p·------------------------------------------------
      else if(RxBuf[1]=='5')
     		{
     		            if(RxBuf[0]=='1')//15
         				{
         				HAL_UART_Transmit_IT(&huart1,ACKBuf,sizeof(ACKBuf));
         				__HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_3,q+=350);
         				}
         				if(RxBuf[0]=='2')//25
         				{
         				HAL_UART_Transmit_IT(&huart1,ACKBuf,sizeof(ACKBuf));
         				__HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_3,q-=350);
         				}
         	    }
//------------------------------------六号舵机—�?�臂三p·------------------------------------------------
      else if(RxBuf[1]=='6')
           		{
           		            if(RxBuf[0]=='1')//16
               				{
               				HAL_UART_Transmit_IT(&huart1,ACKBuf,sizeof(ACKBuf));
               				__HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_4,o+=350);
               				}
               				if(RxBuf[0]=='2')//26
               				{
               				HAL_UART_Transmit_IT(&huart1,ACKBuf,sizeof(ACKBuf));
               				__HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_4,o-=350);
               				}
               	    }

    }
		    HAL_UART_Receive_IT(&huart1,RxBuf,sizeof(RxBuf));
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */