智控组直立小车设计报告

到力的原理，在器件中利用压电陶瓷做成振动单元。当旋利用加速度计所获得的角度信息gθ与陀螺仪积分后的角度θ进行比较，将比较的误差信号经过比例gT放大之后与陀螺仪输出的角速度信号叠加之后再进行积分。对于加速度计给定的角度gθ，经过比例、积分环节之后产生的角度θ必然最终等于gθ。由于加简化，可以将电机运动模型简化成如下的一阶惯性环节模型。、时间常数T，该常数由电机转。动惯量齿轮箱、车模的转动惯、a控制会自动调节车模的倾角以适应车模的加速、和转弯的需要。 #include"stm32f10x.h"#include"hardware.h"#include"usart.h"#include"ili932x.h"#include"rtc.h"#include"adc.h"#include<math.h>#include#define//比例常数Proportional#define//比例常数Proportional #define0//微分常数Derivative #define5pl externuint8_tstaticIOuint32_texternfloatangle,angle_dot;vu16ADCCValue[2];floatjiao=0;floatfloatADCa1=0,ADCa0=0;intdat=0,i=0;/*Private /*constchar[]="*********************MINI-MINI-STM32VR/*Privatefunction voidGPIO_Configuration(void);voidvoidTime_Disy(uint32_tTimeVar);voidAbsolute_Pressure_ADC_Init(void); voidDelay(IOuint32_tnTime);voidactive(void);voidFORWARD_Init(uint16_t);voidBACKWARD_Init(uint16_t);voidSTOP_Init(void);void void /*Private **函数名称**功能描述:** 者:** 期:2010年12月17intmain(void){ //配置系统时钟72M(包括clock,PLLandFlashconfiguration)while(SysTick_Config(SystemFrequency/1000)); //Systick配置延时n*ms //USART_Configuration();//异步通信初始化 //LCD初始化 //2 //tim2{}}//ENC03和7361的输void{ADC_InitTypeDefADC_InitStructure;/*EnableDMA1clock ,/*EnableADC1clock ,/*DMA1channel1 DMA_InitStructure.DMA_PeripheralBaseAddr=(uint32_t)0x C/*ADC1_DR_Address*/;DMA_InitStructure.DMA_MemoryBaseAddr=(u32)ADCCValue;DMA_InitStructure.DMA_DIR=DMA_DIR_PeripheralSRC;DMA_InitStructure.DMA_BufferSize=2;DMA_InitStructure.DMA_PeripheralInc=DMA_PeripheralInc_Disable;DMA_InitStructure.DMA_MemoryInc=DMA_MemoryInc_Enable;DMA_InitStructure.DMA_MemoryDataSize=DMA_MemoryDataSize_HalfWord;DMA_InitStructure.DMA_Mode=DMA_Mode_Circular;DMA_InitStructure.DMA_Priority=DMA_Priority_High;DMA_InitStructure.DMA_M2M=DMA_M2M_Disable;DMA_Init(DMA1_Channel1,&DMA_InitStructure);/*EnableDMA1channel1/*StartADC1SoftwareConversion/*ADC1structreinitializationADC_InitStructure.ADC_Mode=ADC_Mode_Independent;ADC_InitStructure.ADC_ScanConvMode=ENABLE;ADC_InitStructure.ADC_DataAlign=ADC_DataAlign_Right;ADC_InitStructure.ADC_NbrOfChannel=2;ADC_Init(ADC1,&ADC_InitStructure);/*ADC1regularchannel0configurationADC_RegularChannelConfig(ADC1,ADC_Channel_2,1,ADC_SampleTime_41Cycles5); /*EnableADC1DMA/*EnableADC1/*EnableADC1resetcalibarationregister*//*ChecktheendofADC1resetcalibrationregister*//*StartADC1calibaration/*ChecktheendofADC1calibration*/}void{ floatangle_1; //if(angle<(-0.6*180/3.14159)){ LCD_ShowNum(60,280,(uint8_t)angle,2,16);// }elseif(angle<-{LCD_ShowNum(60,280,(uint8_t)angle,2,16);// }{ LCD_ShowNum(60,280,(uint8_t)angle,2,16);// }}voidTIM3Set(uint16_t{}voidTIM1Set(uint16_t{}{ GPIO_ResetBits(GPIOC,GPIO_Pin_14); GPIO_SetBits(GPIOC,GPIO_Pin_15);//1}voidBACKWARD_Init(uint16_t{ GPIO_SetBits(GPIOC,GPIO_ResetBits(GPIOC,GPIO_Pin_15); }void{}//TIM1,OC1void{TIM_TimeBaseInitTypeDefTIM_TimeBaseStructure; TIM_TimeBaseStructure.TIM_Prescaler=pl/*71999*/; CK_INT时钟提供给计数器APB2时钟/(n+1)n=1~65536TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;//向上计数模式TIM_TimeBaseStructure.TIM_Period=1000-1; TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1; //1模;//脚 //OC1通道初始 //1}//TIM3,OC1void{TIM_TimeBaseInitTypeDefTIM_TimeBaseStructure;TIM_OCInitTypeDefTIM_OCInitStructure;RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3ENABLEtim3/*TimebaseconfigurationTIM_TimeBaseStructure.TIM_Prescaler=pl;TIM_TimeBaseStructure.TIM_ClockDivision=0;TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);/*1Modeconfiguration:Channel1*/TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_1;TIM_OCInitStructure.TIM_Pulse=0;TIM_OC1Init(TIM3,&TIM_OCInitStructure);TIM_OC1PreloadConfig(TIM3TIM_OCPreload_Enable);//TIMxCCR1器TIM_ARRPreloadConfig(TIM3ENABLE);//TIMx在ARR;////TIM_CKD_DIV4，TIM_CKD_DIV1 //}**函数名称**功能描述:** 者:** 期:2010年12月17voidTIM2_Configuration(void){TIM_DeInit //TIM2, TIM_BaseInitStructure.TIM_Period=15/*2000*/; TIM_BaseInitStructure.TIM_Prescaler=7200-1; TIM_BaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up; TIM_BaseInitStructure.TIM_RepetitionCounter=0;TIM_ClearFlag(TIM2,TIM_FLAG_Update);//TIM2//TIM2}**函数名称**功能描述:2voidTIM2_IRQHandler(void){if(TIM_GetITStatus(TIM2,TIM_IT_Update)!={{}{}}}**函数名称**功能描述:IO** 者:** 期:2010年12月17voidGPIO_Configuration(void){/*KEY1、KEY2*********************/GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0|GPIO_Pin_1;GPIO_InitStructure.GPIO_Mode GPIO_Init(GPIOA /*USART1TxPA9)GPIO_InitStructure.GPIO_Pin=GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz; GPIO_Init(GPIOA,&GPIO_InitStructure);/*USART1RxPA10)GPIO_InitStructure.GPIO_Pin=GPIO_InitStructure.GPIO_ModeGPIO_Mode_IN_FLOATING;浮空输入模式GPIO_Init(GPIOA,&GPIO_InitStructure);//A2是enc03_out GPIO_InitStructure.GPIO_Pin=GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AIN;GPIO_Init(GPIOA,&GPIO_InitStructure);//A17361SLGPIO_InitStructure.GPIO_Pin=GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_OD;GPIO_Init(GPIOA,&GPIO_InitStructure);//B0是7361的Z GPIO_InitStructure.GPIO_Pin=GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AIN;GPIO_Init(GPIOB,&GPIO_InitStructure);// GPIO_Pin_6GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;GPIO_Init(GPIOA,&GPIO_InitStructure);GPIO_InitStructure.GPIO_Pin=GPIO_Pin_8GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;GPIO_Init(GPIOA,&GPIO_InitStructure);GPIO_InitStructure.GPIO_Pin=GPIO_Pin_14|GPIO_Pin_15;GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;GPIO_Init(GPIOC,&GPIO_InitStructure);}**函数名称**功能描述: 1，KEY1按2，KEY2** 者:** 期:2010年12月17uint8_tKEY_Scan(void){staticuint8_tKEY_UP=1;//按键按松开标志{ elseif(KEY2==0)return}elsereturn }**函数名称**功能描述:用Systick** 者:** 期:2010年12月17voidDelay(IOuint32_tnTime){TimingDelay=while(TimingDelay!=}**函数名称**功能描述Systick** 者:** 期:2010年12月17voidTimingDelay_Decrement(void){if(TimingDelay!={}}**函数名称**功能描述:** 者:** 期:2010年12月17voidNVIC_Configuration(void){#ifdef/*SettheVectorTablebaselocationat0x NVIC_SetVectorTabl