HD01高功率驅(qū)動高速小車

• HD01雙H橋高功率賽車驅(qū)動板
• • 驅(qū)動參數(shù)
  • 引腳分配
  • 引腳性能
• STM32驅(qū)動代碼
• • 初始化代碼
  • 電機(jī)控制代碼
  • 控制頻率參數(shù)

HD01雙H橋高功率賽車驅(qū)動板

HD01高功率驅(qū)動高速小車

• 高功率驅(qū)動板主要提供車的速度

• 雖然方向上有些偏差，但后續(xù)可以通過 硬件加編碼器 軟件PID算法解決小車差速問題

驅(qū)動參數(shù)

先看看我們驅(qū)動的參數(shù)

一般情況下驅(qū)動電流決定了小車的速度
驅(qū)動17A 完全碾壓L298N
這里推薦新手如果不是缺錢的話 最好買一個好點(diǎn)車模 和驅(qū)動

引腳分配

然后我們看他的操作引腳

引腳性能

• VM GND M+ M- 這個沒什么好說的

• DIR控制方向

• SLP控制開關(guān)

• PWM控制速度

• 而FLP CS 作為檢測

• 可以用讀取IO口作為FLP的狀態(tài)讀取 就和按鍵差不多

• 用ADC采集樣本

• 首先我們分配引腳

STM32驅(qū)動代碼

• 然后我們根據(jù)我們要寫的功能寫一個基本控制的初始化

初始化代碼

#include "motor_control.h" #include "led.h"uint16_t PrescalerValue = 0; //20msvoid Montor_Init(void) {TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;TIM_OCInitTypeDef TIM_OCInitStructure;GPIO_InitTypeDef GPIO_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);/* GPIOA and GPIOB clock enable */RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOC, ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOB, &GPIO_InitStructure); if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_5)==0)LED_warning(); //ELT ?áè?1ê?? PB5GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOB ,&GPIO_InitStructure); GPIO_ResetBits(GPIOB,GPIO_Pin_7); //PB7 CS μ??12a?ùGPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_SetBits(GPIOB,GPIO_Pin_3); //PB3 SLP ??μ???′ò?a GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOC, &GPIO_InitStructure); GPIO_SetBits(GPIOC,GPIO_Pin_10); //PC10 DIR ??μ???′ó?yμ??oêy /* System Clocks Configuration *//* TIM3 clock enable */RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);/* GPIOA and GPIOB clock enable */RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);/* GPIOA and GPIOB clock enable */RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);/* GPIO Configuration *//*GPIOB Configuration: TIM3 channel1, 2, 3 and 4 */GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOB, &GPIO_InitStructure); }

電機(jī)控制代碼

然后再編寫一下PWM模塊 PWM有兩組 一組是舵機(jī)控制
采用的20ms 周期
一種是電機(jī)控制 他們推薦我們使用的20KHZ

控制頻率參數(shù)

代碼如下

#include "mypwm.h" uint16_t DUOJI =62;//0-125 uint16_t TIAOSU =62; void TIM3_PWM_Init(void) {uint16_t PrescalerValue = 0;TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;TIM_OCInitTypeDef TIM_OCInitStructure;GPIO_InitTypeDef GPIO_InitStructure; /* System Clocks Configuration *//* TIM3 clock enable */RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);/* GPIOA and GPIOB clock enable */RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);/* GPIO Configuration *//*GPIOB Configuration: TIM3 channel1, 2, 3 and 4 */ \GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStructure);/* -----------------------------------------------------------------------TIM3 Configuration: generate 4 PWM signals with 4 different duty cycles:The TIM3CLK frequency is set to SystemCoreClock (Hz), to get TIM3 counterclock at 24 MHz the Prescaler is computed as following:- Prescaler = (TIM3CLK / TIM3 counter clock) - 1SystemCoreClock is set to 72 MHz for Low-density, Medium-density, High-densityand Connectivity line devices and to 24 MHz for Low-Density Value line andMedium-Density Value line devicesThe TIM3 is running at 36 KHz: TIM3 Frequency = TIM3 counter clock/(ARR + 1)= 24 MHz / 666 = 36 KHzTIM3 Channel1 duty cycle = (TIM3_CCR1/ TIM3_ARR)* 100 = 50%TIM3 Channel2 duty cycle = (TIM3_CCR2/ TIM3_ARR)* 100 = 37.5%TIM3 Channel3 duty cycle = (TIM3_CCR3/ TIM3_ARR)* 100 = 25%TIM3 Channel4 duty cycle = (TIM3_CCR4/ TIM3_ARR)* 100 = 12.5%----------------------------------------------------------------------- *//* Compute the prescaler value */PrescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;/* Time base configuration */TIM_TimeBaseStructure.TIM_Period = 125;TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;TIM_TimeBaseStructure.TIM_ClockDivision = 0;TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);/* PWM1 Mode configuration: Channel1 */TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;TIM_OCInitStructure.TIM_Pulse = TIAOSU;TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;TIM_OC2Init(TIM3, &TIM_OCInitStructure);TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);TIM_ARRPreloadConfig(TIM3, ENABLE);/* TIM3 enable counter */TIM_Cmd(TIM3, ENABLE);} void TIM2_PWM_Init(void) {uint16_t PrescalerValue = 0;uint16_t CCR1_Val = 400;TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;TIM_OCInitTypeDef TIM_OCInitStructure;GPIO_InitTypeDef GPIO_InitStructure; /* System Clocks Configuration *//* TIM3 clock enable */RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);/* GPIOA and GPIOB clock enable */RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);/* GPIO Configuration *//*GPIOB Configuration: TIM3 channel1, 2, 3 and 4 */GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStructure);/* -----------------------------------------------------------------------TIM3 Configuration: generate 4 PWM signals with 4 different duty cycles:The TIM3CLK frequency is set to SystemCoreClock (Hz), to get TIM3 counterclock at 24 MHz the Prescaler is computed as following:- Prescaler = (TIM3CLK / TIM3 counter clock) - 1SystemCoreClock is set to 72 MHz for Low-density, Medium-density, High-densityand Connectivity line devices and to 24 MHz for Low-Density Value line andMedium-Density Value line devicesThe TIM3 is running at 36 KHz: TIM3 Frequency = TIM3 counter clock/(ARR + 1)= 24 MHz / 666 = 36 KHzTIM3 Channel1 duty cycle = (TIM3_CCR1/ TIM3_ARR)* 100 = 50%TIM3 Channel2 duty cycle = (TIM3_CCR2/ TIM3_ARR)* 100 = 37.5%TIM3 Channel3 duty cycle = (TIM3_CCR3/ TIM3_ARR)* 100 = 25%TIM3 Channel4 duty cycle = (TIM3_CCR4/ TIM3_ARR)* 100 = 12.5%----------------------------------------------------------------------- *//* Compute the prescaler value */PrescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;/* Time base configuration */TIM_TimeBaseStructure.TIM_Period = 125;TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;TIM_TimeBaseStructure.TIM_ClockDivision = 0;TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);/* PWM1 Mode configuration: Channel1 */TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;TIM_OCInitStructure.TIM_Pulse = DUOJI ;TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;TIM_OC2Init(TIM2, &TIM_OCInitStructure);TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);TIM_ARRPreloadConfig(TIM2, ENABLE);/* TIM3 enable counter */TIM_Cmd(TIM2, ENABLE);}

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