基于STM32F103C8T6可移动的多功能机械手臂

最新推荐文章于 2024-04-22 17:11:59 发布

shaw_Stewart

最新推荐文章于 2024-04-22 17:11:59 发布

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文章标签： stm32 c语言

本文链接：https://blog.csdn.net/shaw_Stewart/article/details/78913732

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一首先你需要具备的知识

1.了解STM32F103C8T6的库的编程

2.了解舵机的工作性质。

3.了解nrf24L01的通信原理

4.了解驱动模块的工作状态

二这是遥控器部分的代码

以下是遥控器部分代码

#include "stm32f10x.h"

#include "bsp_led.h"
#include "bsp_24l01.h"
#include "bsp_usart.h"
#include "bsp_adc.h"
u8 status;
u8 i;
extern __IO uint16_t ADC_ConvertedValue[8];
unsigned char RX_BUF5[100];

//void Delay_ms(unsigned int ms)
//{
// unsigned int i,j;
//
// for(i=0;i<ms*1000;i++)
// for(j=0;j<7;j++);
//}

int main(void)
{
int value;
unsigned char temp=0;
float ADC_ConvertedValueLocal = 0.0;
USART_Config();
ADCx_Init();
SPI_NRF_Init();
status = NRF_Check();
if(status == SUCCESS)
    printf("\r\n      NRFÓëMCUÁ¬½Ó³É¹¦\r\n");
else
    printf("\r\n   ÕýÔÚ¼ì²âNRFÓëMCUÊÇ·ñÕý³£Á¬½Ó¡£¡£¡£\r\n");
while(1)
{


        NRF_TX_Mode();
          RX_BUF5[0]=0xa1;
          RX_BUF5[1]=0xa2;
        RX_BUF5[2]=(char) (ADC_ConvertedValue[0]>>8);
       RX_BUF5[3]=(char) ADC_ConvertedValue[0];
      printf("\r\n The current AD0 value = %d V \r\n",ADC_ConvertedValue[0]);
       RX_BUF5[4]=(char) ADC_ConvertedValue[1];
      RX_BUF5[5]=(char) (ADC_ConvertedValue[1]>>8);
printf("\r\n The current AD1 value = %d V \r\n",ADC_ConvertedValue[1]);
       RX_BUF5[6]=(char) ADC_ConvertedValue[2];
       RX_BUF5[7]=(char) (ADC_ConvertedValue[2]>>8);
      printf("\r\n The current AD2 value = %d V \r\n",ADC_ConvertedValue[2]);

        RX_BUF5[8]=(char) (ADC_ConvertedValue[3]>>8);
       RX_BUF5[9]=(char) ADC_ConvertedValue[3];
printf("\r\n The current AD3 value = %d V \r\n",ADC_ConvertedValue[3]);
       RX_BUF5[10]=(char) ADC_ConvertedValue[4];
      RX_BUF5[11]=(char) (ADC_ConvertedValue[4]>>8);
printf("\r\n The current AD4 value = %d V \r\n",ADC_ConvertedValue[4]);
       RX_BUF5[12]=(char) ADC_ConvertedValue[5];
       RX_BUF5[13]=(char) (ADC_ConvertedValue[5]>>8);
     printf("\r\n The current AD5 value = %d V \r\n",ADC_ConvertedValue[5]);
        RX_BUF5[14]=(char) (ADC_ConvertedValue[6]>>8);
       RX_BUF5[15]=(char) ADC_ConvertedValue[6];
     printf("\r\n The current AD6 value = %d V \r\n",ADC_ConvertedValue[6]);
       RX_BUF5[16]=(char) ADC_ConvertedValue[7];
      RX_BUF5[17]=(char) (ADC_ConvertedValue[7]>>8);
     printf("\r\n The current AD7 value = %d V \r\n",ADC_ConvertedValue[7]);
          RX_BUF5[18]=0xa3;
      NRF_Tx_Dat(RX_BUF5);
      }

}

以下是执行端部分代码

#include "stm32f10x.h"

#include "bsp_TiMbase.h"
#include "bsp_24l01.h"
#include "bsp_usart.h"
#include "pid.h"
u8 status; //ÓÃÓÚÅÐ¶Ï½ÓÊÕ/·¢ËÍ×´Ì¬
u8 rxbuf[1]; //½ÓÊÕ»º³å
float i=160;
float j=160;
char buf2[10] = {"0"};
unsigned char RX_BUF5[100];
unsigned char RX_Complete=0;
unsigned char RX_DataCount = 0;
union
{
float ADC_ConvertedValueLocal1;
u8 txbuf[4];
}AD_Rec_data;

int YM,ZY,SX,ONE,TWO,THREE,FOUR,FINE,SIX,SEVEN,EIGHT;
void control(void);

//ÑÓÊ±º¯Êý
void Delay_ms(unsigned int ms)
{
unsigned int i,j;

for(i=0;i<ms*1000;i++)
for(j=0;j<7;j++);
}

int main(void)
{
USART_Config();
SPI_NRF_Init();
TIM1_Config();
TIM3_Config();
status = NRF_Check();
if(status == SUCCESS)
    printf("\r\n      NRFÓëMCUÁ¬½Ó³É¹¦\r\n");
else
    printf("\r\n   ÕýÔÚ¼ì²âNRFÓëMCUÊÇ·ñÕý³£Á¬½Ó¡£¡£¡£\r\n");

   while(1)
{
    control();

}}

void control(void)
{
        NRF_RX_Mode();
       NRF_Rx_Dat(RX_BUF5);
  if(RX_BUF5[0]==0xa1&&RX_BUF5[1]==0xa2&&RX_BUF5[18]==0xa3)
    {

       ZY=(RX_BUF5[2]<<8)|RX_BUF5[3];//×ó ÏÂ ÓÒ
     printf("\r\n The current AD1 value = %d V \r\n",ZY);
       YM=(RX_BUF5[5]<<8)|RX_BUF5[4];//×ó ÏÂ ÉÏ
     printf("\r\n The current AD2 value = %d V \r\n",YM);
      SX=(RX_BUF5[7]<<8)|RX_BUF5[6];// ÓÒ ÏÂ ×ó
     printf("\r\n The current AD3 value = %d V \r\n",SX);
       ONE=(RX_BUF5[8]<<8)|RX_BUF5[9];// ÓÒ ÏÂ ÉÏ
       printf("\r\n The current AD4 value = %d V \r\n",ONE);
      TWO=(RX_BUF5[11]<<8)|RX_BUF5[10];//ÓÒÉÏ ×ó
     printf("\r\n The current AD5 value = %d V \r\n",TWO);
      THREE=(RX_BUF5[13]<<8)|RX_BUF5[12];//ÓÒÉÏ    ÉÏ
     printf("\r\n The current AD6 value = %d V \r\n",THREE);
      FOUR=(RX_BUF5[14]<<8)|RX_BUF5[15];//×óÉÏ   ×ó
     printf("\r\n The current AD7 value = %d V \r\n",FOUR);
      FINE=(RX_BUF5[17]<<8)|RX_BUF5[16];//×óÉÏ   ÉÏ
     printf("\r\n The current AD8 value = %d V \r\n",FINE);


   if(YM>=2500)
   {
    forword();//ºó
    SX=SX*2100/4096;
    TIM_SetCompare4(TIM1, YM);
   TIM_SetCompare1(TIM1, YM);//¸ù¾Ý¼ÆËãÖµÐÞ¸ÄPWMÕ¼¿Õ±È
      }


   else
   if(YM<=1500)
   {

      forword4();//Ç°
    YM=2100-YM*2100/4096;
    TIM_SetCompare4(TIM1, YM);//¸ù¾Ý¼ÆËãÖµÐÞ¸ÄPWMÕ¼¿Õ±È
     TIM_SetCompare1(TIM1, YM);

  }
else
    if(ZY>=2500)
   {
    forword2();//you
      ZY=ZY*2100/4096;
   TIM_SetCompare1(TIM1, ZY);//¸ù¾Ý¼ÆËãÖµÐÞ¸ÄPWMÕ¼¿Õ±È
   TIM_SetCompare4(TIM1, ZY);
   }
   else
   if(ZY<=1500)
   {
    forword1();//zuo
     ZY=2100-ZY*2100/4096;
   TIM_SetCompare4(TIM1,ZY);
   TIM_SetCompare1(TIM1,ZY);

   }
   else
   if(1500<ZY&&ZY<2500)
   {
       forword3();
    TIM_SetCompare4(TIM1, ZY);//¸ù¾Ý¼ÆËãÖµÐÞ¸ÄPWMÕ¼¿Õ±È
     TIM_SetCompare3(TIM1, ZY);
   }

      if(ONE<=1500)//µÚÒ»¸ö¶æ»ú
   {
    if(i<=262)
   {
     i=i+10;
       Delay_ms(10);
       TIM_SetCompare1(TIM8,i);

    }
   }
      else
    if(ONE>=3500)       //22222222
   {
    if(100<i&&i<300)
   {
     i=i-10;
     Delay_ms(10);
       TIM_SetCompare1(TIM8,i);
    }
}
   else
   if(1500<ONE&&ONE<3500)   //333333
   {
     if(TWO<=1500)//µÚ¶þ¸ö¶æ»ú
   {             //31111
    if(j<=262)
   {
     j=j+10;
       Delay_ms(10);
       TIM_SetCompare2(TIM8,j);
      printf("\r\n The current AD5 value = %d V \r\n",TWO);
    }
   }
      else
    if(TWO>=3500)    //322222
   {
    if(100<j&&j<300)
   {
    j=j-10;
     Delay_ms(10);
       TIM_SetCompare2(TIM8,j);
     printf("\r\n The current AD5 value = %d V \r\n",TWO);
    }
  }

else
      if(1500<TWO&&TWO<3500)  //344444
    {
    if(THREE<=1500)//µÚÈý¸ö¶æ»ú   //411111

{
    if(j<=262)
   {
     j=j+10;
       Delay_ms(10);
       TIM_SetCompare3(TIM8,j);

    }
   }
      else
    if(THREE>=3500)   ///42222
   {
    if(100<j&&j<300)
   {
    j=j-10;
     Delay_ms(10);
       TIM_SetCompare3(TIM8,j);
    }}
  else
      if(1500<THREE&&THREE<3500)   //43333
    {
    if(FOUR<=1500)//µÚËÄ¸ö¶æ»ú
   {
    if(j<=262)
   {
     j=j+10;
       Delay_ms(10);
       TIM_SetCompare4(TIM8,j);

    }
   }
      else
    if(FOUR>=3500)
   {
    if(100<j&&j<300)
   {
     j=j-10;
          Delay_ms(10);
         TIM_SetCompare4(TIM8,j);
    }}
  else
   if(1500<FOUR&&FOUR<3500)
    {

    if(FINE<=1500)//µÚÎå¸ö¶æ»ú
   {
    if(j<=262)
   {
     j=j+10;
       Delay_ms(10);
       TIM_SetCompare2(TIM1,j);

    }
   }
      else
    if(FINE>=3500)
   {
    if(100<j&&j<300)
   {
     j=j-10;
          Delay_ms(10);
         TIM_SetCompare2(TIM1,j);
    }}
   else
    if(1500<FINE&&FINE<3500)
    {




    }

  }
   }
   }
   }

}
}

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