电子设计大赛电磁炮STM32源代码两轴云台

ID:467963 · 发表于 2019-8-28 00:21

代码，电赛基本要求可以完成。

spi读取GY953数据，加上ANO6.5通讯协议，PWM_IN_OUT

单片机源程序如下:

#include "stm32f10x.h" // 相当于51单片机中的 #include <reg51.h>
#include "bsp_usart.h"
#include "delay.h"
#include <stdio.h>
#include <string.h>
#include <math.h>
#include "bsp_servo.h"
#include "bsp_daba.h"
#include "bsp_keyscan.h"
#include "bsp_led.h"
#include "oled.h"
#include "bsp_keyscan.h"
int16_t tim = 0;
uint16_t volatile receivebuff[1024]={0};
extern uint16_t aim_x,aim_y,flag;
extern volatile uint16_t num;
u8 key = 16,key1=16,single=1,select_yaw=0,select_d=0;
u16 yaw=0,d=0,v0=5;
u16 single_index=0;
double pitch=0;
u16 SINGLE[20]={30,35,40,45,50,55,60,65,70};//????
u8 pattern_flag=1;
u16 temp=0;
extern int16_t aim_distances,aim_yaw;
int main(void)
{
LED_GPIO_Config();
USART1_Config();
printf("串口成功！\n");
KeyBoard_Init();
OLED_Init();
Servo_Init(20000, 72-1,1500,1500);//20ms周期头：600-2350(10-170度) 底座：500-2500(0-180度), 1500对应90度asddadasdsada
printf("222");
while(1)
{
oled_show();
//printf("%d",d);
//key=Read_KyeValue();
//printf("%d",key);
// delay_ms(100);
if((Read_KyeValue()==14) && (pattern_flag==1))//??1???
{
delay_ms(10);
//LED1_TOGGLE ;
printf("123");
LED1_OFF;//chongdianjidianqi
LED2_ON;//fangdainjidianqi
delay_ms(Tchong);//???
LED1_ON;
LED2_ON;
//delay_ms(200);
//printf("443");
LED1_ON;
LED2_OFF;
delay_ms(100);
LED1_ON;
LED2_ON;
}
if((Read_KyeValue()==10))//????
{
delay_ms(5);
++pattern_flag;
while(Read_KyeValue()!=16);
if(pattern_flag==4)
{
pattern_flag=1;
}
}
/************************************************/
if((Read_KyeValue()==11) && (pattern_flag==2)) //??2,????
{
delay_ms(10);
if(Read_KyeValue()==11)
{
d=0;
while(Read_KyeValue()!=16);
select_d=1;
while(select_d)
{
key=Read_KyeValue();
if(key!=16)
{
delay_ms(20);
if(key!=16)
{
if(key!=12&&key!=13&&key!=11)//??0-9
{
if(d==0){d=key;}
else if(d>0&&d<10){d=d*10+key;}
else{d=d*10+key;}
}
if(key==13)
{
key=16;select_d=0;
}//??
if(key==11){key=16;d=0;}//??
}
delay_ms(20);
while(Read_KyeValue()!=16);
daba(d,1500);
delay_ms(TG);
LED1_OFF;//chongdianjidianqi
LED2_ON;//fangdainjidianqi
delay_ms(Tchong);//???
LED1_ON;
LED2_ON;
//delay_ms(200);
//printf("443");
LED1_ON;
LED2_OFF;
delay_ms(100);
LED1_ON;
LED2_ON;
}
}
}
printf("%d",d);
}
/********************************/
if((Read_KyeValue()==11) && (pattern_flag==3)) //3
{
delay_ms(100);
if(Read_KyeValue()==11)
{
d=0;
while(Read_KyeValue()!=16);
select_d=1;
select_yaw=1;
printf("rrrr");
while(select_d)
{
key=Read_KyeValue();
//printf("%d",key);
if(key!=16)
{
//printf("juli");
delay_ms(5);
if(key!=16)
{
if(key!=12&&key!=13&&key!=11)//??0-9
{
if(d==0){d=key;}
else if(d>0&&d<10){d=d*10+key;}
else if(d>10&&d<100){d=d*10+key;}
else if(d>100&&d<1000){d=d*10+key;}
else {temp=d*10+key;}
}
if(key==13)
{
key=16;
select_d=0;
//select_yaw=1;
}//??
//if(key==11){key=16;d=0;}//??
}
delay_ms(5);
while(Read_KyeValue()!=16);
}
}
}
d=temp/100;
yaw=temp%100;
/****************************/
/*if(USART_RXBUF[5] == '-')
{
aim_yaw = (angle*9.3333)+1500;
}
else
{
aim_yaw = 1500-(angle*12.3333);
}*/
/*******************************/
if(yaw>=30 && yaw<=60)
{
aim_yaw=yaw;
aim_yaw=(aim_yaw-30)*9.3333+1500;
}
else if(yaw<30 && yaw>=0)
{
aim_yaw=30-yaw;
aim_yaw=1500-(aim_yaw*12.3333);
}
else
{
aim_yaw=1500;
}
daba(d,aim_yaw);
delay_ms(TG);
LED1_OFF;//chongdianjidianqi
LED2_ON;//fangdainjidianqi
delay_ms(Tchong);//???
LED1_ON;
LED2_ON;
//delay_ms(200);
//printf("443");
LED1_ON;
LED2_OFF;
delay_ms(100);
LED1_ON;
LED2_ON;
printf("%d\n",d);
printf("%d\n",yaw);
}
// if(Read_KyeValue()==13)//???
// {
// delay_ms(5);
// //printf("yaw:%d,d:%d\n",yaw,d);
// //pitch=(0.5*(asin(d*9.8/(v0*v0*100)))*180/3.14);//pitch=0.5*arcsin(d*g/(v0*v0));
// // printf("yaw:%d,pitch:%f,single:%d\n",yaw,pitch,single);
// if(single==1)
// {
// Servo_PWM_Updata((pitch*10.9375)+1450,(yaw*11.1111)+1500);
// }
// else
// {
// Servo_PWM_Updata((pitch*10.9375)+1450,1500-(yaw*11.1111));
// }
// if(Read_KyeValue()==14)//chongdian
// {
// //LED1_TOGGLE ;
// printf("123");
// LED1_OFF;//chongdianjidianqi
// LED2_ON;//fangdainjidianqi
// delay_ms(4000);//刚刚好
// LED1_ON;
// LED2_ON;
// //delay_ms(200);
// printf("443");
// LED1_ON;
// LED2_OFF;
// delay_ms(100);
// LED1_ON;
// LED2_ON;
//
//
// }
tim ++;
if(tim%1==0)
{
//daba(aim_distances,aim_yaw);//正式程序恢复
}
if(tim ==10)
{
tim = 0;
}
}
}