32单片机做的风力摆
单片机源程序如下:
- #include "stm32f10x.h"
- #include "oled.h"
- #include "delay.h"
- #include "key.h"
- #include "sys.h"
- #include "usart.h"
- #include "mpu6050.h"
- #include "inv_mpu.h"
- #include "inv_mpu_dmp_motion_driver.h"
- #include "other.h"
- #include "motor.h"
- #include "pid.h"
- #include "timer.h"
- #include "key.h"
- #include "arithmetic.h"
- #include <stdio.h>
- #include <math.h>
- volatile float last_pitch=0,last_roll=0,last_length_x=0,last_length_y=0;
- //主函数中显示数据共需要20ms左右的时间
- /* pitch<0 1 |y pitch>0
- roll<0 | roll<0
- 0~90度 | 90~180度
- 2 __第三象限 |____第四象限4 x
- |
- 90~180度| 0~90度
- 第二象限pitch<0 | pitch>0第一象限
- roll>0 |3 roll>0 */
- //pitch: x轴角度，roll：y轴角度
- int main(void)
- {
- volatile int key=0,mode=0;
- float set_value_key[3]={0,0,0};
- volatile float set_length=0,set_angle=0,set_radius=0,set_value=0;
- Key_Config(); //按键初始化
- uart_init(115200);//串口初始化,波特率为115200
- delay_init(); //延时初始化
- NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
- motor_init(); //空心杯初始化
- TIM2_PWM_Init(9999,71);//频率f=72000000/10000/72=100
- TIM3_Int_Init(1999,719);//定时器中断，周期为20ms
- motor_a(1,0);motor_c(1,0);
- motor_b(1,0);motor_d(1,0);
- initial_lcd(); //OLED初始化
- // delay_ms(500);
- MPU_Init(); //初始化MPU6050
- while(mpu_dmp_init())
- {
- delay_ms(200);
- display_GB2312_string(0,72,"error");
- }
- clear_screen();
- display_GB2312_string(0,1,"风力摆");
- display_GB2312_string(0,72,"OK");
- while(1)
- {
- key=KeyScan();
- if(key>10) {mode=key-10;key_count--;}
- switch (mode)
- { case 1: {display_GB2312_string(2,1,"模式一:直线");break;}
- case 2:{display_GB2312_string(2,1,"模式二:直线");display_GB2312_string(4,1,"设置长度:");
- set_length=set_value/10;oled_display_set_length(4,84,set_length);break;}
- case 3:{display_GB2312_string(2,1,"模式三:斜线");display_GB2312_string(4,1,"设置角度:");
- set_angle=set_value; oled_display_set_angle(4,84,set_angle);break;}
- case 4: {display_GB2312_string(2,1,"模式四:制动");break;}
- case 5:{display_GB2312_string(2,1,"模式五:画圆");display_GB2312_string(4,1,"设置半径:");
- set_radius=set_value/10;oled_display_set_radius(4,84,set_radius);break;}}
- if((key>=0)&&(key<10))
- {set_value_key[key_count-1]=key;set_value=set_value_key[0]*100+set_value_key[1]*10+set_value_key[2];}
- if(key==10) break;
- }
- display_GB2312_string(6,1,"设置完毕");
- // motor_init(); //空心杯初始化
- // motor_a(1,0);motor_c(1,0);
- // motor_b(1,0);motor_d(1,0);
- while(1)
- {
- printf("%d ",mode);
- while(mode==1){first();}
- while(mode==2){second(set_length);}
- while(mode==3){third(set_angle);}
- while(mode==4){fourth();}
- while(mode==5){fifth(set_radius);}
- }
- }
- //定时器3中断服务程序
- void TIM3_IRQHandler(void) //TIM3 中断
- {
- if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //检查TIM3更新中断是否发生
- {
- TIM_ClearITPendingBit(TIM3, TIM_IT_Update ); //清除TIM3更新中断标志
- pid_flag=0;
- current_stright_speed_x=(length_x-last_length_x)/0.02;
- current_stright_speed_y=(length_y-last_length_y)/0.02;//计算速度，单位为cm/s
- last_length_x=length_x;
- last_length_y=length_y;
- printf("中断开");
- current_angle_speed_x=(pitch-last_pitch)/0.02;
- current_angle_speed_y=(roll-last_roll)/0.02;//计算速度，单位为度/s
- last_pitch=pitch;
- last_roll=roll;
- }
- }
所有程序51hei提供下载:
风力摆控制系统.zip
(399 KB, 下载次数: 32)
|
