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ID:586895 · �� 2019-7-19 15:11

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/**
* @par Copyright (C): 2010-2019, Shenzhen Yahboom Tech
* @file       app_motor.c
* @author    liusen
* @version    V1.0
* @brief       С��˶��ƺ��
* @details
* @par History  ��˵��
*
* version: liusen_20170717
*/
#include "app_motor.h"
#include "sys.h"
#include "bsp_motor.h"
#define  LeftMotor_Go() {GPIO_SetBits(Motor_Port, Left_MotoA_Pin); GPIO_ResetBits(Motor_Port, Left_MotoB_Pin);GPIO_SetBits(Motor_Port1, Left_MotoA1_Pin); GPIO_ResetBits(Motor_Port1, Left_MotoB1_Pin);}//��ת
#define  LeftMotor_Back()  {GPIO_ResetBits(Motor_Port, Left_MotoA_Pin); GPIO_SetBits(Motor_Port, Left_MotoB_Pin);GPIO_ResetBits(Motor_Port1, Left_MotoA1_Pin); GPIO_SetBits(Motor_Port1, Left_MotoB1_Pin);}//��ת
#define  LeftMotor_Stop()  {GPIO_ResetBits(Motor_Port, Left_MotoA_Pin); GPIO_ResetBits(Motor_Port, Left_MotoB_Pin);GPIO_ResetBits(Motor_Port1, Left_MotoA1_Pin); GPIO_ResetBits(Motor_Port1, Left_MotoB1_Pin);}//ֹͣ
#define  RightMotor_Go()  {GPIO_SetBits(Motor_Port, Right_MotoA_Pin); GPIO_ResetBits(Motor_Port, Right_MotoB_Pin);GPIO_SetBits(Motor_Port, Right_MotoA1_Pin); GPIO_ResetBits(Motor_Port, Right_MotoB1_Pin);}//��ת
#define  RightMotor_Back()  {GPIO_ResetBits(Motor_Port, Right_MotoA_Pin); GPIO_SetBits(Motor_Port, Right_MotoB_Pin);GPIO_ResetBits(Motor_Port, Right_MotoA1_Pin); GPIO_SetBits(Motor_Port, Right_MotoB1_Pin);}//��ת
#define  RightMotor_Stop()  {GPIO_ResetBits(Motor_Port, Right_MotoA_Pin); GPIO_ResetBits(Motor_Port, Right_MotoB_Pin);GPIO_ResetBits(Motor_Port, Right_MotoA1_Pin); GPIO_ResetBits(Motor_Port, Right_MotoB1_Pin);}//ֹͣ
#define  LeftMotorPWM(Speed) TIM_SetCompare2(TIM4, Speed);  //��ǰ
#define  RightMotorPWM(Speed) TIM_SetCompare1(TIM4, Speed); //��ǰ
#define  Left1MotorPWM(Speed) TIM_SetCompare3(TIM4, Speed); //��
#define  Right1MotorPWM(Speed) TIM_SetCompare4(TIM4, Speed); //�Һ�

/**
* Function    Car_Run
* @author       liusen
* @date       2017.07.17
* @brief       С��ǰ��
* @param[in]    Speed  ��0~7200�� ٶȷ�Χ
* @param[out] void
* @retval       void
* @par History ��
*/
void Car_Run(int Speed)
{
LeftMotor_Go();
RightMotor_Go();
LeftMotorPWM(Speed);
RightMotorPWM(Speed);
Left1MotorPWM(Speed);
Right1MotorPWM(Speed);
}
/**
* Function    Car_Back
* @author       liusen
* @date       2017.07.17
* @brief       С��
* @param[in]    Speed  ��0~7200�� ٶȷ�Χ
* @param[out] void
* @retval       void
* @par History ��
*/
void Car_Back(int Speed)
{
LeftMotor_Back();
RightMotor_Back();
LeftMotorPWM(Speed);
RightMotorPWM(Speed);
Left1MotorPWM(Speed);
Right1MotorPWM(Speed);
}
/**
* Function    Car_Left
* @author       liusen
* @date       2017.07.17
* @brief       С��ת
* @param[in]    Speed  ��0~7200�� ٶȷ�Χ
* @param[out] void
* @retval       void
* @par History ��
*/
void Car_Left(int Speed)
{
LeftMotor_Stop();
RightMotor_Go();
LeftMotorPWM(0);
RightMotorPWM(Speed);
Left1MotorPWM(0);
Right1MotorPWM(Speed);

}
/**
* Function    Car_Right
* @author       liusen
* @date       2017.07.17
* @brief       С��ת
* @param[in]    Speed  ��0~7200�� ٶȷ�Χ
* @param[out] void
* @retval       void
* @par History ��
*/
void Car_Right(int Speed)
{
LeftMotor_Go();
RightMotor_Stop();
LeftMotorPWM(Speed);
RightMotorPWM(0);
Left1MotorPWM(Speed);
Right1MotorPWM(0);
}
/**
* Function    Car_Stop
* @author       liusen
* @date       2017.07.17
* @brief       С��ɲ��
* @param[in]    void
* @param[out] void
* @retval       void
* @par History ��
*/
void Car_Stop(void)
{
LeftMotor_Stop();
RightMotor_Stop();
LeftMotorPWM(0);
RightMotorPWM(0);
Left1MotorPWM(0);
Right1MotorPWM(0);
}
void Car_Back_Left(int Speed)
{
LeftMotor_Stop();
RightMotor_Back();

LeftMotorPWM(0);
RightMotorPWM(Speed);
Left1MotorPWM(0);
Right1MotorPWM(Speed);
}
void Car_Back_Right(int Speed)
{
LeftMotor_Back();
RightMotor_Stop();
LeftMotorPWM(Speed);
RightMotorPWM(0);
Left1MotorPWM(Speed);
Right1MotorPWM(0);
}
/**
* Function    Car_SpinLeft
* @author       liusen
* @date       2017.07.17
* @brief       С��
* @param[in]    LeftSpeed��ٶ�  RightSpeed��ҵ��ٶ� ȡֵ��Χ��0~7200��
* @param[out] void
* @retval       void
* @par History ��
*/
void Car_SpinLeft(int LeftSpeed, int RightSpeed)
{
LeftMotor_Back();
RightMotor_Go();
LeftMotorPWM(LeftSpeed);
RightMotorPWM(RightSpeed);
Left1MotorPWM(LeftSpeed);
Right1MotorPWM(RightSpeed);
}
/**
* Function    Car_SpinRight
* @author       liusen
* @date       2017.07.17
* @brief       С��
* @param[in]    LeftSpeed��ٶ�  RightSpeed��ҵ��ٶ� ȡֵ��Χ��0~7200��
* @param[out] void
* @retval       void
* @par History ��
*/
void Car_SpinRight(int LeftSpeed, int RightSpeed)
{
LeftMotor_Go();
RightMotor_Back();
Left1MotorPWM(LeftSpeed);
Right1MotorPWM(RightSpeed);
LeftMotorPWM(LeftSpeed);
RightMotorPWM(RightSpeed);
}

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c8t6С��.7z (321.49 KB, ��ش��: 267)

ID:1 · �� 2019-7-19 18:06

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ID:242804 · �� 2020-12-28 10:18

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ID:1091382 · �� 2023-10-29 22:14

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