圓曾經(jīng)的小車夢，造一臺智能小車(三)之小車前進后退左右轉(zhuǎn)基本框架

改變PWM占空比函數(shù)實現(xiàn)：

static void Motor_PWM_SetValue(TIM_HandleTypeDef *htim, uint32_t Channe, unsigned short value)
{
    TIM_OC_InitTypeDef sConfigOC;

    if(value >= 1000 - 1) value = 999;

    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    //改變PWM值
    sConfigOC.Pulse = value;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
    sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;

    if (HAL_TIM_PWM_ConfigChannel(htim, &sConfigOC, Channe) != HAL_OK)
    {
        Error_Handler();
    }

    if (HAL_TIM_PWM_Start(htim, Channe) != HAL_OK)
    {
        Error_Handler();
    }
}

相應(yīng)的測試PWM值：

//停止
#define CCR0_Val 0
#define CCR1_Val 125
#define CCR2_Val 250
#define CCR3_Val 500
#define CCR4_Val 750
//最快速
#define CCR5_Val 999

WIFI小車控制處理

/*wifi接收指令處理*/
static void Wifi_Recv_Cmd_Process(void)
{
    static int cmd_index = 0 ;
    char *cmd[] = {"LEFT", "RIGHT", "GO", "BACK", "STOP"};

    if(strstr((char *)esp8266_info.rx_buffer, cmd[cmd_index]) != NULL)
    {
        HAL_UART_DMAStop(&huart2);
        HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
        printf("接收到客戶端發(fā)來的指令:%s\n", esp8266_info.rx_buffer);

        switch(cmd_index)
        {
            //左轉(zhuǎn)
            case 0:
                Motor_PWM_SetValue(&htim1, TIM_CHANNEL_1, CCR0_Val); //0		==> 控制左前輪后
                Motor_PWM_SetValue(&htim1, TIM_CHANNEL_2, CCR2_Val); //1		==> 控制左前輪前	===> 慢
                Motor_PWM_SetValue(&htim1, TIM_CHANNEL_3, CCR5_Val); //1		==> 控制右前輪前	===> 快
                Motor_PWM_SetValue(&htim1, TIM_CHANNEL_4, CCR0_Val); //0		==> 控制右前輪后

                Motor_PWM_SetValue(&htim2, TIM_CHANNEL_1, CCR2_Val); //1		==> 控制左后輪前	===> 慢
                Motor_PWM_SetValue(&htim2, TIM_CHANNEL_2, CCR0_Val); //0		==> 控制左后輪后
                Motor_PWM_SetValue(&htim2, TIM_CHANNEL_3, CCR0_Val); //0		==> 控制右后輪后
                Motor_PWM_SetValue(&htim2, TIM_CHANNEL_4, CCR5_Val); //1		==> 控制右后輪前  ===> 塊

                break ;

            //右轉(zhuǎn)
            case 1:
                Motor_PWM_SetValue(&htim1, TIM_CHANNEL_1, CCR0_Val); //0
                Motor_PWM_SetValue(&htim1, TIM_CHANNEL_2, CCR5_Val); //1 快
                Motor_PWM_SetValue(&htim1, TIM_CHANNEL_3, CCR2_Val); //1 慢
                Motor_PWM_SetValue(&htim1, TIM_CHANNEL_4, CCR0_Val); //0

                Motor_PWM_SetValue(&htim2, TIM_CHANNEL_1, CCR5_Val); //1 快
                Motor_PWM_SetValue(&htim2, TIM_CHANNEL_2, CCR0_Val); //0
                Motor_PWM_SetValue(&htim2, TIM_CHANNEL_3, CCR0_Val); //0
                Motor_PWM_SetValue(&htim2, TIM_CHANNEL_4, CCR2_Val); //1 慢
                break ;

            //前進
            case 2:
                Motor_PWM_SetValue(&htim1, TIM_CHANNEL_1, CCR0_Val); //0
                Motor_PWM_SetValue(&htim1, TIM_CHANNEL_2, CCR5_Val); //1
                Motor_PWM_SetValue(&htim1, TIM_CHANNEL_3, CCR5_Val); //1
                Motor_PWM_SetValue(&htim1, TIM_CHANNEL_4, CCR0_Val); //0

                Motor_PWM_SetValue(&htim2, TIM_CHANNEL_1, CCR5_Val); //1
                Motor_PWM_SetValue(&htim2, TIM_CHANNEL_2, CCR0_Val); //0
                Motor_PWM_SetValue(&htim2, TIM_CHANNEL_3, CCR0_Val); //0
                Motor_PWM_SetValue(&htim2, TIM_CHANNEL_4, CCR5_Val); //1
                break ;

            //后退
            case 3:
                Motor_PWM_SetValue(&htim1, TIM_CHANNEL_1, CCR5_Val); //1
                Motor_PWM_SetValue(&htim1, TIM_CHANNEL_2, CCR0_Val); //0
                Motor_PWM_SetValue(&htim1, TIM_CHANNEL_3, CCR0_Val); //0
                Motor_PWM_SetValue(&htim1, TIM_CHANNEL_4, CCR5_Val); //1

                Motor_PWM_SetValue(&htim2, TIM_CHANNEL_1, CCR0_Val); //0
                Motor_PWM_SetValue(&htim2, TIM_CHANNEL_2, CCR5_Val); //1
                Motor_PWM_SetValue(&htim2, TIM_CHANNEL_3, CCR5_Val); //1
                Motor_PWM_SetValue(&htim2, TIM_CHANNEL_4, CCR0_Val); //0
                break ;

            //停止
            case 4:

                Moto_Stop();
                break ;
        }

        memset(esp8266_info.rx_buffer, 0, RX_BUFF_SIZE);
        HAL_UART_Receive_DMA(&huart2, esp8266_info.rx_buffer, RX_BUFF_SIZE);
    }

    ++cmd_index ;

    if(5 == cmd_index)
        cmd_index = 0 ;
}

這節(jié)我們直接實現(xiàn)了單片機跟單片機之前的WIFI通信，后面我們將繼續(xù)拓展，開發(fā)一個手機APP，實現(xiàn)Android手機wifi連接小車，或者在筆記本PC端開發(fā)一個QT APP，然后通過筆記本的wifi連接小車，控制小車前進，后退，左轉(zhuǎn)，右轉(zhuǎn)。

案例下載

公眾號后臺回復(fù)wifi小車即可獲取。

往期精彩

基于小熊派WIFI PWM控制小車前進后退

圓曾經(jīng)的小車夢，造一臺智能小車(二)

圓曾經(jīng)的小車夢，造一臺智能小車(一)

MCU串口命令解析器的實現(xiàn)

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