直流马达驱动_PWM加减速（STM32F4 CubeMX）

一、前期准备
单片机：STM32F407VET6
开发环境：MDK5.14
库函数：STM32Cube_FW_F4_V1.16.0
直流电机模块：淘宝有售

二、实验效果
1）按键KEY1按下，正转->反转->停止，循环下去；
2）按键KEY2按下，PWM增加5%，一直加到100%；
3）按键KEY3按下，PWM减小5%，一直减到0%。
4）PWM波为20K，正转启动要到30%，反转启动要到50%，

三、驱动原理
直流有刷电机的驱动十分简单，通电即可转动。运用H桥可以直接驱动电机正反转。

当Q1、Q4导通，电机正转；Q2、Q3导通电机反转。驱动电路使用淘宝上的H桥模块

逻辑输入的IN1、IN2为OUT1与OUT2的控制脚。IN1、IN2电平相反时候，电机实现正反转；IN1、IN2电平相同时，电机停转。

CubeMX TIM2配置如下：

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四、驱动代码
motor.h

#ifndef __MOTOR_H__
#define	__MOTOR_H__
#include "stm32f4xx_hal.h"
#include "user_gpio.h"
#include "stdio.h"
#include "string.h"
#include "stdlib.h"

#define		KEY1	PEin(10)
#define		KEY2	PEin(11)
#define		KEY3	PEin(12)

extern uint8_t PWMCapture1,PWMCapture2;
extern uint8_t MoterMode;

extern void Moter_StartPWM(void);
extern void Motor_Test(void);
#endif

motor.c

#include "motor.h"

extern TIM_HandleTypeDef htim2;
uint8_t PWMCapture1  = 30, PWMCapture2 = 30;
uint8_t MoterMode = 0;

void Moter_StartPWM(void)
{
	HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
	HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
	
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, 100);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, 100);
}

void Motor_Test(void)
{
	if (KEY1 == 0)			//正转
	{
		HAL_Delay(5);
		if (KEY1 == 0)
		{
			while(KEY1 == 0);
			MoterMode ++;
		}
	}
	
	switch(MoterMode)
	{
		case 1:		//正转
			PWMCapture2 = 0;
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, PWMCapture2);
			
			if (KEY2 == 0)			
			{
				HAL_Delay(5);
				if (KEY2 == 0)
				{
					while(KEY2 == 0);
					PWMCapture1 += 5;
					if (PWMCapture1 >= 100)		//Duty Cycle Max = 100%
					{
						PWMCapture1 = 100;
					}
					printf("CH1 Duty Cycle = %02d%%\r\n", PWMCapture1);
				}
			} 
			
			if (KEY3 == 0)			
			{
				HAL_Delay(5);
				if (KEY3 == 0)
				{
					while(KEY3 == 0);
					PWMCapture1 -= 5;
					if (PWMCapture1 <= 5)		//Duty Cycle Min = 5%
					{
						PWMCapture1 = 5;
					}
					printf("CH1 Duty Cycle = %02d%%\r\n", PWMCapture1);
				}
			} 
			
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, PWMCapture1);
			break;
		case 2:		//反转
			PWMCapture1 = 0;
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, PWMCapture2);
			
			if (KEY2 == 0)			
			{
				HAL_Delay(5);
				if (KEY2 == 0)
				{
					while(KEY2 == 0);
					PWMCapture2 += 5;
					if (PWMCapture2 >= 100)		//Duty Cycle Max = 100%
					{
						PWMCapture2 = 100;
					}
					printf("CH2 Duty Cycle = %02d%%\r\n", PWMCapture2);
				}
			} 
			
			if (KEY3 == 0)			
			{
				HAL_Delay(5);
				if (KEY3 == 0)
				{
					while(KEY3 == 0);
					PWMCapture2 -= 5;
					if (PWMCapture2 <= 5)		//Duty Cycle Min = 5%
					{
						PWMCapture2 = 5;
					}
					printf("CH2 Duty Cycle = %02d%%\r\n", PWMCapture2);
				}
			} 
			
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, PWMCapture2);
			break;
		default:
			MoterMode = 0;
			break;
	}
}

由于作者能力有限，有不妥之处欢迎指正，邮箱alex_hua@foxmail.com