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制作简单的小车运动控制程序,使用遥控器给小车发指令,遥控器和接收器都使用STM32。
遥控器端发不同的指令,小车接收器端解析指令再控制步进电机不同的运转。基于NRF24L01,作如下具体事项。 遥控器端main程序: #include "sys.h" #include "misc.h" #include "led.h" #include "delay.h" #include "key.h" #include "usart.h" #include "24l01.h" //#include "timer.h" // // int main(void) { u8 key; u8 tmp_buf[33]; u8 t; SystemInit(); //系统时钟等初始化 delay_init(72); //初始化延时 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 uart_init(9600); //串口初始化波特率为9600,停止位1 LED_Init(); //初始化LED灯 KEY_Init(); //按键初始化 NRF24L01_Init(); //初始化NRF24L01 while(NRF24L01_Check())//检测不到24L01 { delay_ms(1000); LED0=!LED0; //D2闪烁 } TX_Mode();//发送模式 for(t=0;t<6;t++) { tmp_buf[t]='0'; } while(1) { key=KEY_Scan(0); switch(key) { case KEY_FORWARD: for(t=0;t<6;t++) { tmp_buf[t]='1'; } NRF24L01_TxPacket(tmp_buf); LED1=!LED1; //D3闪烁 //LCD_ShowString(100,210,239,32,16,"forward "); break; case KEY_BACKWARD: for(t=0;t<6;t++) { tmp_buf[t]='2'; } NRF24L01_TxPacket(tmp_buf); LED1=!LED1; //D3闪烁 //LCD_ShowString(100,210,239,32,16,"backward "); break; case KEY_LEFT: for(t=0;t<6;t++) { tmp_buf[t]='3'; } NRF24L01_TxPacket(tmp_buf); LED1=!LED1; //D3闪烁 //LCD_ShowString(100,210,239,32,16,"turn left"); break; case KEY_RIGHT: for(t=0;t<6;t++) { tmp_buf[t]='4'; } NRF24L01_TxPacket(tmp_buf); LED1=!LED1; //D3闪烁 //LCD_ShowString(100,210,239,32,16,"turn right"); break; case KEY_STOP: tmp_buf[0] = '1'; tmp_buf[1] = '1'; tmp_buf[2] = '1'; tmp_buf[3] = '0'; tmp_buf[4] = '1'; tmp_buf[5] = '1'; LED1=!LED1; //D3闪烁 NRF24L01_TxPacket(tmp_buf); //LCD_ShowString(100,210,239,32,16,"Stop "); break; case KEY_VACUUMPUMP: tmp_buf[0] = '1'; tmp_buf[1] = '1'; tmp_buf[2] = '1'; tmp_buf[3] = '0'; tmp_buf[4] = '1'; tmp_buf[5] = '2'; LED1=!LED1; //D3闪烁 NRF24L01_TxPacket(tmp_buf); //LCD_ShowString(100,210,239,32,16,"Vacuumonoff"); break; case KEY_FASTVEL: tmp_buf[0] = '1'; tmp_buf[1] = '1'; tmp_buf[2] = '1'; tmp_buf[3] = '0'; tmp_buf[4] = '1'; tmp_buf[5] = '4'; LED1=!LED1; //D3闪烁 NRF24L01_TxPacket(tmp_buf); // LCD_ShowString(100,210,239,32,16,"fastVel "); break; case KEY_FAST: tmp_buf[0] = '1'; tmp_buf[1] = '1'; tmp_buf[2] = '1'; tmp_buf[3] = '0'; tmp_buf[4] = '1'; tmp_buf[5] = '5'; LED1=!LED1; //D3闪烁 NRF24L01_TxPacket(tmp_buf); //LCD_ShowString(100,210,239,32,16,"slowVel "); break; case KEY_MIDDVEL: tmp_buf[0] = '1'; tmp_buf[1] = '1'; tmp_buf[2] = '1'; tmp_buf[3] = '0'; tmp_buf[4] = '1'; tmp_buf[5] = '6'; LED1=!LED1; //D3闪烁 NRF24L01_TxPacket(tmp_buf); // LCD_ShowString(100,210,239,32,16,"steermotor1"); break; case KEY_SLOW: tmp_buf[0] = '1'; tmp_buf[1] = '1'; tmp_buf[2] = '1'; tmp_buf[3] = '0'; tmp_buf[4] = '1'; tmp_buf[5] = '7'; LED1=!LED1; //D3闪烁 NRF24L01_TxPacket(tmp_buf); //LCD_ShowString(100,210,239,32,16,"steermotor2"); break; case KEY_SLOWVEL: tmp_buf[0] = '1'; tmp_buf[1] = '1'; tmp_buf[2] = '1'; tmp_buf[3] = '0'; tmp_buf[4] = '1'; tmp_buf[5] = '8'; LED1=!LED1; //D3闪烁 NRF24L01_TxPacket(tmp_buf); //LCD_ShowString(100,210,239,32,16,"spare1 "); break; } delay_ms(5); } } 小车接收端main程序: #include "sys.h" #include "delay.h" #include "usart.h" #include "led.h" #include "lcd.h" #include "spi.h" #include "key.h" #include "24l01.h" #include "misc.h" #include"stdio.h" #include #include "stm32f4xx_adc.h" #include "Motorcontrol.h" #include "steermotor.h" #include "beep.h" #include "stm32f4xx_gpio.h" #include "stm32f4xx_rcc.h" // // int Vacuum=0; //关闭 int motorbrake=0;//抱闸关闭 extern int motion;//电机停止 int index=0;//按钮索引 int main(void) { u8 key, mode; u16 t = 0; u8 tmp_buf[33]; int decode; //系统时钟初始化SystemInit()使原频率15750000HZ变成26880000HZ SystemInit(); //系统时钟等初始化 NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2 delay_init(168); //初始化延时函数 uart_init(115200); //初始化串口波特率为115200 LED_Init(); //初始化LED LCD_Init(); //LCD初始化 KEY_Init(); //按键初始化 NRF24L01_Init(); //初始化NRF24L01 Adc_Init(); //初始化ADC //BEEP_Init(); //初始化蜂鸣器端口 Initialization();//步进电机控制初始化 POINT_COLOR = RED;//设置字体为红色 LCD_ShowString(30, 50, 200, 16, 16, "Explorer STM32F4"); LCD_ShowString(30, 70, 200, 16, 16, "NRF24L01 "); LCD_ShowString(30, 90, 200, 16, 16, "SIASUN Co.,Ltd"); LCD_ShowString(30, 110, 200, 16, 16, "2016/8"); while (NRF24L01_Check()) { LCD_ShowString(30, 130, 200, 16, 16, "NRF24L01 Error"); delay_ms(200); LCD_Fill(30, 130, 239, 130 + 16, WHITE); delay_ms(200); } LCD_ShowString(30, 130, 200, 16, 16, "NRF24L01 OK"); while (1) { key = KEY0_PRES; // key = KEY_Scan(0); if (key == KEY0_PRES) { mode = 0; break; } else if (key == KEY1_PRES) { mode = 1; break; } t++; if (t == 100)LCD_ShowString(10, 150, 230, 16, 16, "KEY0:RX_Mode KEY1:TX_Mode"); //闪烁显示提示信息 if (t == 200) { LCD_Fill(10, 150, 230, 150 + 16, WHITE); t = 0; } delay_ms(5); } LCD_Fill(10, 150, 240, 166, WHITE);//清空上面的显示 POINT_COLOR = BLUE;//设置字体为蓝色 decode = 0; if (mode == 0)//RX模式 { LCD_ShowString(30, 150, 200, 16, 16, "NRF24L01 RX_Mode"); LCD_ShowString(30, 170, 200, 16, 16, "Received DATA:"); NRF24L01_RX_Mode(); while (1) { if (NRF24L01_RxPacket(tmp_buf) == 0)//一旦接收到信息,则显示出来. { tmp_buf[32] = 0;//加入字符串结束符 LCD_ShowString(0, 190, lcddev.width - 1, 32, 16, tmp_buf); decode = atoi(tmp_buf); switch (decode) { case 111111: if(index!=1) { LCD_ShowString(100, 210, 239, 32, 16, "forward "); LED1 = !LED1; Brakeon();//电机抱闸打开 forward(); motion=1;//电机运动 index=1; } break; case 222222: if(index!=2) { LCD_ShowString(100, 210, 239, 32, 16, "backward "); LED1 = !LED1; Brakeon();//电机抱闸打开 backward(); motion=1;//电机运动 index=2; } break; case 333333: if(index!=3) { LCD_ShowString(100, 210, 239, 32, 16, "turn left"); LED1 = !LED1; Brakeon();//电机抱闸打开 turnleft(); motion=1;//电机运动 index=3; } break; case 444444: if(index!=4) { LCD_ShowString(100, 210, 239, 32, 16, "turn right"); LED1 = !LED1; Brakeon();//电机抱闸打开 turnright(); motion=1;//电机运动 index=4; } break; case 111011: if(index!=5) { LCD_ShowString(100, 210, 239, 32, 16, "Stop "); LED1 = !LED1; stop(); delay_ms(25); Brakeoff(); motion=0;//电机运动 index=5; } break; case 111012: LCD_ShowString(100, 210, 239, 32, 16, "Vacuumonoff"); LED1 = !LED1; Vacuumpump = !Vacuumpump; if( Vacuum==0) { Vacuum=1;//打开 } else { Vacuum=0;//关闭 } index=6; break; case 111013: LCD_ShowString(100, 210, 239, 32, 16, "motorbrake "); LED1 = !LED1; index=7; break; case 111014: if(index!=8) { LCD_ShowString(100, 210, 239, 32, 16, "fastVel "); LED1 = !LED1; fastVel(); index=8; } break; case 111015: LCD_ShowString(100, 210, 239, 32, 16, "fast "); LED1 = !LED1; fast(); index=9; break; case 111016: if(index!=10) { LCD_ShowString(100, 210, 239, 32, 16, "midVel "); LED1 = !LED1; middVel(); index=10; } break; case 111017: LCD_ShowString(100, 210, 239, 32, 16, "slow "); LED1 = !LED1; slow(); index=11; break; case 111018: if(index!=12) { LCD_ShowString(100, 210, 239, 32, 16, "slowVel "); LED1 = !LED1; slowVel(); index=12; } break; case 111019: if(index!=13) { LCD_ShowString(100, 210, 239, 32, 16, "auto "); LED1 = !LED1; if( motorbrake==1) { forward(); delay_ms(500); turnleft(); delay_ms(500); forward(); delay_ms(500); backward(); delay_ms(500); turnright(); delay_ms(500); backward(); delay_ms(500); stop(); } index=13; } break; } } else { delay_us(5); t++; if (t == 10000)//大约1s钟改变一次状态 { t = 0; LED1 = !LED1; } } } } else//TX模式 { LCD_Fill(10, 150, 240, 166, WHITE);//清空上面的显示 POINT_COLOR = BLUE;//设置字体为蓝色 LCD_ShowString(60, 150, 200, 16, 16, "NRF24L01 TX_Mode"); LCD_ShowString(60, 170, 200, 16, 16, "please select key"); NRF24L01_TX_Mode(); for (t = 0; t<6; t++) { tmp_buf[t] = '0'; } while (1) { key = KEY_Scan(0); switch (key) { case WKUP_PRES: for (t = 0; t<6; t++) { tmp_buf[t] = '1'; } NRF24L01_TxPacket(tmp_buf); LCD_ShowString(60, 190, 239, 32, 16, "Sended DATA:"); LCD_ShowString(0, 210, 239, 32, 16, tmp_buf); LCD_ShowString(100, 210, 239, 32, 16, "forward "); break; case KEY1_PRES: for (t = 0; t<6; t++) { tmp_buf[t] = '2'; } NRF24L01_TxPacket(tmp_buf); LCD_ShowString(60, 190, 239, 32, 16, "Sended DATA:"); LCD_ShowString(0, 210, 239, 32, 16, tmp_buf); LCD_ShowString(100, 210, 239, 32, 16, "backward "); break; case KEY2_PRES: for (t = 0; t<6; t++) { tmp_buf[t] = '3'; } NRF24L01_TxPacket(tmp_buf); LCD_ShowString(60, 190, 239, 32, 16, "Sended DATA:"); LCD_ShowString(0, 210, 239, 32, 16, tmp_buf); LCD_ShowString(100, 210, 239, 32, 16, "turn left"); break; case KEY0_PRES: for (t = 0; t<6; t++) { tmp_buf[t] = '4'; } NRF24L01_TxPacket(tmp_buf); LCD_ShowString(60, 190, 239, 32, 16, "Sended DATA:"); LCD_ShowString(0, 210, 239, 32, 16, tmp_buf); LCD_ShowString(100, 210, 239, 32, 16, "turn right"); break; } delay_ms(5); } } } |
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