android stm32 蓝牙模块,手机蓝牙控制智能小车:STM32+蓝牙模块+蓝牙APP源码与资料...

#include "motor.h"

#include "interface.h"

#include "stm32f10x.h"

//GPIO配置函数

void MotorGPIO_Configuration(void)

{

GPIO_InitTypeDef GPIO_InitStructure;

GPIO_InitStructure.GPIO_Pin = FRONT_LEFT_F_PIN;

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;

GPIO_Init(FRONT_LEFT_F_GPIO, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = FRONT_LEFT_B_PIN;

GPIO_Init(FRONT_LEFT_B_GPIO, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = FRONT_RIGHT_F_PIN;

GPIO_Init(FRONT_RIGHT_F_GPIO, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = FRONT_RIGHT_B_PIN;

GPIO_Init(FRONT_RIGHT_B_GPIO, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = BEHIND_LEFT_F_PIN;

GPIO_Init(BEHIND_LEFT_F_GPIO, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = BEHIND_LEFT_B_PIN;

GPIO_Init(BEHIND_LEFT_B_GPIO, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = BEHIND_RIGHT_F_PIN;

GPIO_Init(BEHIND_RIGHT_F_GPIO, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = BEHIND_RIGHT_B_PIN;

GPIO_Init(BEHIND_RIGHT_B_GPIO, &GPIO_InitStructure);

}

//根据占空比驱动电机转动

void CarMove(void)

{

BEHIND_RIGHT_EN;

/* //左前轮

if(front_left_speed_duty > 0)//向前

{

if(speed_count < front_left_speed_duty)

{

FRONT_LEFT_GO;

}else

{

FRONT_LEFT_STOP;

}

}

else if(front_left_speed_duty < 0)//向后

{

if(speed_count < (-1)*front_left_speed_duty)

{

FRONT_LEFT_BACK;

}else

{

FRONT_LEFT_STOP;

}

}

else                //停止

{

FRONT_LEFT_STOP;

}*/

//右前轮

if(front_right_speed_duty > 0)//向前

{

if(speed_count < front_right_speed_duty)

{

FRONT_RIGHT_GO;

}else                //停止

{

FRONT_RIGHT_STOP;

}

}

else if(front_right_speed_duty < 0)//向后

{

if(speed_count < (-1)*front_right_speed_duty)

{

FRONT_RIGHT_BACK;

}else                //停止

{

FRONT_RIGHT_STOP;

}

}

else                //停止

{

FRONT_RIGHT_STOP;

}

//左后轮

if(behind_left_speed_duty > 0)//向前

{

if(speed_count < behind_left_speed_duty)

{

BEHIND_LEFT_GO;

}        else                //停止

{

BEHIND_LEFT_STOP;

}

}

else if(behind_left_speed_duty < 0)//向后

{

if(speed_count < (-1)*behind_left_speed_duty)

{

BEHIND_LEFT_BACK;

}        else                //停止

{

BEHIND_LEFT_STOP;

}

}

else                //停止

{

BEHIND_LEFT_STOP;

}

/*                //右后轮

if(behind_right_speed_duty > 0)//向前

{

if(speed_count < behind_right_speed_duty)

{

BEHIND_RIGHT_GO;

}        else                //停止

{

BEHIND_RIGHT_STOP;

}

}

else if(behind_right_speed_duty < 0)//向后

{

if(speed_count < (-1)*behind_right_speed_duty)

{

BEHIND_RIGHT_BACK;

}        else                //停止

{

BEHIND_RIGHT_STOP;

}

}

else                //停止

{

BEHIND_RIGHT_STOP;

}*/

}

//向前

void CarGo(void)

{

front_left_speed_duty=SPEED_DUTY;

front_right_speed_duty=SPEED_DUTY;

behind_left_speed_duty=SPEED_DUTY;

behind_right_speed_duty=SPEED_DUTY;

}

//后退

void CarBack(void)

{

front_left_speed_duty=-SPEED_DUTY;

front_right_speed_duty=-SPEED_DUTY;

behind_left_speed_duty=-SPEED_DUTY;

behind_right_speed_duty=-SPEED_DUTY;

}

//向左

void CarLeft(void)

{

front_left_speed_duty=SPEED_DUTY;

front_right_speed_duty=-SPEED_DUTY;

behind_left_speed_duty=SPEED_DUTY;//+10;//增加后轮驱动力

behind_right_speed_duty=-SPEED_DUTY;

}

//向右

void CarRight(void)

{

front_left_speed_duty=-SPEED_DUTY;

front_right_speed_duty=SPEED_DUTY;

behind_left_speed_duty=-SPEED_DUTY;

behind_right_speed_duty=SPEED_DUTY;//+10;//增加后轮驱动力

}

//停止

void CarStop(void)

{

front_left_speed_duty=0;

front_right_speed_duty=0;

behind_left_speed_duty=0;

behind_right_speed_duty=0;

}

void MotorInit(void)

{

MotorGPIO_Configuration();

CarStop();

}