普通电机模块

一、实验配置

L298N模块+STM32F103C8T6+12V航模电池+霍尔编码器减速电机

二、实现目的

运用串口通信和按键实现对电机的开环和闭环控制

三、实验现象

按钮一：开关电机

按钮二：加速电机（短按+长按）

按钮三：减速电机（短按+长按）

按钮四：反转电机

(下面附上图片)

四、实验部分代码

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "KEY.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
//全局变量
uint8_t Rx_dat[1];
uint8_t ch;
int test_pwm=900;


/*PID相关变量*/
float p=1;
float i=0;
float d=0;

float set=0;//设定值（目标值）
float get=0;
float err[2]={0,0};//0号元素表示最新值，1号元素表示上一次的值

float pout=0;
float iout=0;
float dout=0;
float out=0;

float max_out=1000;

/*PID计算核心函数*/
float PID_cal(float set,float get)
{
	err[0]=set-get;//设定值减去实际值
	
	pout = p * err[0];
	iout+= i*err[0];
	dout =  d*(err[0]-err[1]);
	
	out=pout+iout+dout;
	if(out>max_out)
	{
		out=max_out;
	}
	else if(out<=-max_out)
	{
		out=-max_out;
	}
	err[1]=err[0];
	return out;        
}	

/*
USART串口通信
*/
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)//回调
{
	if(huart->Instance==USART1)
	{
		switch(Rx_dat[0])
		{
			case 0x00:
				if(set>0)
				{
					set=0;
					printf("set = 0\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
				else if(set<0)
				{
					set=0;
					printf("set = 0\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
			case 0x01:
				if(set>=0)
				{
					set=100;
					printf("set = 100\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
				else if(set<0)
				{
					set=-100;
					printf("set = -100\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
			case 0x02:
				if(set>=0)
				{
					set=200;
					printf("set = 200\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
				else if(set<0)
				{
					set=-200;
					printf("set = -200\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
			case 0x03:
				if(set>=0)
				{
					set=300;
					printf("set = 300\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
				else if(set<0)
				{
					set=-300;
					printf("set = -300\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
			case 0x04:
				if(set>=0)
				{
					set=400;
					printf("set = 400\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
				else if(set<0)
				{
					set=-400;
					printf("set = -400\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
			case 0x05:
				if(set>=0)
				{
					set=500;
					printf("set = 500\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
				else if(set<0)
				{
					set=-500;
					printf("set = -500\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
			case 0x06:
				if(set>=0)
				{
					set=600;
					printf("set = 600\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
				else if(set<0)
				{
					set=-600;
					printf("set = -600\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
			case 0x07:
				if(set>=0)
				{
					set=700;
					printf("set = 700\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
				else if(set<0)
				{
					set=-700;
					printf("set = -700\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
			case 0x08:
				if(set>=0)
				{
					set=800;
					printf("set = 800\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
				else if(set<0)
				{
					set=-800;
					printf("set = -800\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
			case 0x09:
				if(set>=0)
				{
					set=900;
					printf("set = 900\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
				else if(set<0)
				{
					set=-900;
					printf("set = -900\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
			case 0x10:
				if(set>=0)
				{
					set=1000;
					printf("set = 1000\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				}
				else if(set<0)
				{
					set=-1000;
					printf("set = -1000\n");
					printf("请输入 0 - 10 实现调速\n");
					break;
				
		}
		//test = Rx_dat[0] ;
		//printf("%x\n",test);
		
	/*if(Rx_dat[0]==0x900)
	{
		printf("YES\n");
		__HAL_UART_CLEAR_PEFLAG(&huart1);
		HAL_UART_Receive_IT(&huart1,Rx_dat,2);
		//scanf("%d",&Rx_dat);
	}
	else
	{
		printf("%d",Rx_dat[0]);
		printf("NO\n");
				__HAL_UART_CLEAR_PEFLAG(&huart1);
		HAL_UART_Receive_IT(&huart1,Rx_dat,2);
		//scanf("%d",&Rx_dat);
	}*/
		}
		__HAL_UART_CLEAR_PEFLAG(&huart1);
		HAL_UART_Receive_IT(&huart1,Rx_dat,1);
	}
}
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

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

/* USER CODE END PM */

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

/* USER CODE BEGIN PV */



/* 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_TIM1_Init();
  MX_TIM2_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
	HAL_TIM_Encoder_Start(&htim2,TIM_CHANNEL_ALL);

	HAL_GPIO_WritePin(GPIOB,KEY1_GPIO_PIN|KEY2_GPIO_PIN|KEY3_GPIO_PIN|KEY4_GPIO_PIN,GPIO_PIN_SET);
	
	char key;
	printf("串口连接成功\n");
	printf("请输入 0 - 10 实现调速\n");
	HAL_UART_Receive_IT(&huart1,Rx_dat,1);
	//HAL_UART_Receive_IT(&huart1,&Rx_dat,1);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
while (1)
  {
		if(test_pwm>0)
		{
			HAL_GPIO_WritePin(GPIOA,GPIO_PIN_11,GPIO_PIN_SET);
			HAL_GPIO_WritePin(GPIOA,GPIO_PIN_12,GPIO_PIN_RESET);
			TIM1->CCR1=test_pwm;
		}
		else if(test_pwm<0)
		{
			HAL_GPIO_WritePin(GPIOA,GPIO_PIN_11,GPIO_PIN_RESET);
			HAL_GPIO_WritePin(GPIOA,GPIO_PIN_12,GPIO_PIN_SET);
			TIM1->CCR1=-test_pwm;
		}
		else
		{
			HAL_GPIO_WritePin(GPIOA,GPIO_PIN_11,GPIO_PIN_SET);
			HAL_GPIO_WritePin(GPIOA,GPIO_PIN_12,GPIO_PIN_SET);
			TIM1->CCR1=0;
		}
		get=TIM2->CNT;
		TIM2->CNT=0;
		if(get>35000)
			get-=65535;
		if(get<-35000){get+=65535;}
		test_pwm=PID_cal(set,get);
		HAL_Delay(5);
		
		/*==================================================*/
		//开关（按键控制实现调速）
		key=KeyScan(1);
		switch(key)
		{
			case 0:
			{
				if(set!=0)
								
			{
				set=0;
				printf("set = %f\n",set);
				//p=0;printf("p=%d",p);
			}
			else
			{//p=20;printf("p=%d",p);
				set=900;
				printf("set = %f\n",set);				

			}	
				HAL_GPIO_TogglePin(GPIOC,GPIO_PIN_13);HAL_Delay(100);
				break;
			}
			case 1:
			{
				//LED1=!LED1;
				
				if(set>=0)
				{
					set+=100;
					printf("set = %f\n",set);
				}
				else if(set<0)
				{
					set-=100;
					printf("set = %f\n",set);
				}
			//	p++;printf("p=%d",p);
				/*if(test_pwm>=0)
				{
					test_pwm+=100;
				}
				else if(test_pwm<0)
				{
					test_pwm-=100;
				}*/
				HAL_GPIO_TogglePin(GPIOC,GPIO_PIN_13);HAL_Delay(100);
				break;
			} 
			case 2:
			{
				//p--;printf("p=%d",p);
				//LED0=!LED0;
				//LED1=!LED1;
				if(set<0)
				{
					set+=100;
					printf("set = %f\n",set);
				}
				else if(set>=0)
				{
					set-=100;
					printf("set = %f\n",set);
				}
				
				HAL_GPIO_TogglePin(GPIOC,GPIO_PIN_13);HAL_Delay(100);
				break;
			}
			case 3://p=-p;printf("p=%d",p);
			set=-set;		
			printf("set = %f\n",set);			
				HAL_GPIO_TogglePin(GPIOC,GPIO_PIN_13);HAL_Delay(100);
				break;
			default:
			{
				HAL_Delay(10);
			}
		}
		
		/*if(Key_Scan(KEY1_GPIO,KEY1_GPIO_PIN)==1)                                           
		{ 
			if(test_pwm!=0)
			{
				test_pwm=0;
			}
			else
			{
				test_pwm=900;
			}
			//HAL_GPIO_TogglePin(GPIOC,GPIO_PIN_13);
		}
		//加速
		else if(Key_Scan(KEY2_GPIO,KEY2_GPIO_PIN)==1)
		{
			test_pwm+=100;//HAL_GPIO_TogglePin(GPIOC,GPIO_PIN_13);
		}
		//减速
		else if(Key_Scan(KEY3_GPIO,KEY3_GPIO_PIN)==1)
		{
			test_pwm-=100;//HAL_GPIO_TogglePin(GPIOC,GPIO_PIN_13);
		}
		//反转
		else if(Key_Scan(KEY4_GPIO,KEY4_GPIO_PIN)==1)
		{
			test_pwm=-test_pwm;//HAL_GPIO_TogglePin(GPIOC,GPIO_PIN_13);
		}
		*/
    /* 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 CPU, AHB and APB busses clocks 
  */
  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 busses 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 */

/* 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 */

  /* 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,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/