單片機(jī)控制電子產(chǎn)品項(xiàng)目開發(fā) 課件 130-1-學(xué)習(xí)課件：小車行走程序開發(fā)

作者：?？∮⑿≤囆凶叱绦蜷_發(fā)CONTENTS01直流電機(jī)驅(qū)動(dòng)e7d195523061f1c01ef2b70529884c179423570dbaad84926380ABC1F97BAEF0C8FC051856578EAB7874501A1FFE158C4981707381814BCC4D9A8E3554438DEE4FBCF5A5B4D2A8B0989AB57E8BAC65EB4C7ADE47CB0CAEE0501E4A226B4263409BF6D490A639D9B9ED09071C131A40B4F721A3CABF56865E37DAC04C7C9B262B2670CBBEB096AEE5D9F6218CBA63150702舵機(jī)驅(qū)動(dòng)03小車調(diào)速與轉(zhuǎn)向1.直流電機(jī)驅(qū)動(dòng)e7d195523061f1c01ef2b70529884c179423570dbaad84926380ABC1F97BAEF0C8FC051856578EAB7874501A1FFE158C4981707381814BCC4D9A8E3554438DEE4FBCF5A5B4D2A8B0989AB57E8BAC65EB4C7ADE47CB0CAEE0501E4A226B4263409BF6D490A639D9B9ED09071C131A40B4F721A3CABF56865E37DAC04C7C9B262B2670CBBEB096AEE5D9F6218CBA631507若調(diào)轉(zhuǎn)直流電源的正、負(fù)極，電機(jī)轉(zhuǎn)子將會(huì)反轉(zhuǎn)將直流電源的正、負(fù)極分別接到電機(jī)相對(duì)應(yīng)的正、負(fù)引腳，電機(jī)轉(zhuǎn)子正向轉(zhuǎn)動(dòng)直流有刷電機(jī)1.直流電機(jī)驅(qū)動(dòng)e7d195523061f1c01ef2b70529884c179423570dbaad84926380ABC1F97BAEF0C8FC051856578EAB7874501A1FFE158C4981707381814BCC4D9A8E3554438DEE4FBCF5A5B4D2A8B0989AB57E8BAC65EB4C7ADE47CB0CAEE0501E4A226B4263409BF6D490A639D9B9ED09071C131A40B4F721A3CABF56865E37DAC04C7C9B262B2670CBBEB096AEE5D9F6218CBA631507高電平時(shí)電機(jī)轉(zhuǎn)動(dòng)，同時(shí)電機(jī)電樞電感儲(chǔ)存能量電樞電壓平均值Uav由占空比及電源電壓決定，改變占空比能夠改變直流電動(dòng)機(jī)的轉(zhuǎn)速PWM調(diào)速控制低電平時(shí)停止向電動(dòng)機(jī)提供能量1.直流電機(jī)驅(qū)動(dòng)e7d195523061f1c01ef2b70529884c179423570dbaad84926380ABC1F97BAEF0C8FC051856578EAB7874501A1FFE158C4981707381814BCC4D9A8E3554438DEE4FBCF5A5B4D2A8B0989AB57E8BAC65EB4C7ADE47CB0CAEE0501E4A226B4263409BF6D490A639D9B9ED09071C131A40B4F721A3CABF56865E37DAC04C7C9B262B2670CBBEB096AEE5D9F6218CBA631507H橋驅(qū)動(dòng)電路使電機(jī)運(yùn)轉(zhuǎn)，必須導(dǎo)通對(duì)角線上的一對(duì)場(chǎng)效應(yīng)管024個(gè)場(chǎng)效應(yīng)管：左上臂、左下臂、右上臂、右下臂01當(dāng)左上臂Q1管和右下臂Q4管導(dǎo)通時(shí)，驅(qū)動(dòng)電機(jī)順時(shí)針轉(zhuǎn)動(dòng)03左下臂Q2和右上臂Q3導(dǎo)通的情況，驅(qū)動(dòng)電機(jī)逆時(shí)針轉(zhuǎn)動(dòng)041.直流電機(jī)驅(qū)動(dòng)e7d195523061f1c01ef2b70529884c179423570dbaad84926380ABC1F97BAEF0C8FC051856578EAB7874501A1FFE158C4981707381814BCC4D9A8E3554438DEE4FBCF5A5B4D2A8B0989AB57E8BAC65EB4C7ADE47CB0CAEE0501E4A226B4263409BF6D490A639D9B9ED09071C131A40B4F721A3CABF56865E37DAC04C7C9B262B2670CBBEB096AEE5D9F6218CBA631507H橋上兩個(gè)同側(cè)的場(chǎng)效應(yīng)管不能同時(shí)導(dǎo)通引入開通延時(shí)死區(qū)1.直流電機(jī)驅(qū)動(dòng)e7d195523061f1c01ef2b70529884c179423570dbaad84926380ABC1F97BAEF0C8FC051856578EAB7874501A1FFE158C4981707381814BCC4D9A8E3554438DEE4FBCF5A5B4D2A8B0989AB57E8BAC65EB4C7ADE47CB0CAEE0501E4A226B4263409BF6D490A639D9B9ED09071C131A40B4F721A3CABF56865E37DAC04C7C9B262B2670CBBEB096AEE5D9F6218CBA631507>嵌入式芯片不能直接連至直流電機(jī)兩端驅(qū)使其工作，一般使用專用驅(qū)動(dòng)芯片>如L298驅(qū)動(dòng)芯片，雙H高電壓大電流功率集成電路1.直流電機(jī)驅(qū)動(dòng)e7d195523061f1c01ef2b70529884c179423570dbaad84926380ABC1F97BAEF0C8FC051856578EAB7874501A1FFE158C4981707381814BCC4D9A8E3554438DEE4FBCF5A5B4D2A8B0989AB57E8BAC65EB4C7ADE47CB0CAEE0501E4A226B4263409BF6D490A639D9B9ED09071C131A40B4F721A3CABF56865E37DAC04C7C9B262B2670CBBEB096AEE5D9F6218CBA63150701INPUT1、INPUT2OUT1、OUT2輸出的控制端，OUT1、OUT2接M01，INPUT1接高電平、INPUT2接低電平，電機(jī)M01正轉(zhuǎn)，INPUT1接低電平、INPUT2接高電平，電機(jī)M01反轉(zhuǎn)02INPUT3、INPUT4OUT3，OUT4輸出的控制端，OUT3、OUT4接M0203En_A、En_B接控制使能端，控制電機(jī)M01和M02的停轉(zhuǎn)，當(dāng)兩引腳接入PWM信號(hào)時(shí)，可以實(shí)現(xiàn)電機(jī)調(diào)速04CUR_A、CUR_B電機(jī)M01和M02的電流反饋引腳，不用時(shí)可以接地1.直流電機(jī)驅(qū)動(dòng)e7d195523061f1c01ef2b70529884c179423570dbaad84926380ABC1F97BAEF0C8FC051856578EAB7874501A1FFE158C4981707381814BCC4D9A8E3554438DEE4FBCF5A5B4D2A8B0989AB57E8BAC65EB4C7ADE47CB0CAEE0501E4A226B4263409BF6D490A639D9B9ED09071C131A40B4F721A3CABF56865E37DAC04C7C9B262B2670CBBEB096AEE5D9F6218CBA631507#defineIN1P00 //LN298INPUT1引腳定義#defineIN2P01 //LN298INPUT2引腳定義#defineENA P02 //LN298ENA引腳定義unsignedcharCycle=10; //電機(jī)PWM周期1.25msunsignedcharDuty=6; //電機(jī)PWM高電平時(shí)長(zhǎng)初始值為7.5msunsignedcharCnt_PWM=0;//電機(jī)PWM計(jì)時(shí)器計(jì)數(shù)單位0.125msunsignedcharMotor_State=1;//電機(jī)狀態(tài)控制變量//低兩位設(shè)置方向：00停轉(zhuǎn)01正轉(zhuǎn)10反轉(zhuǎn)//第四、五位設(shè)置占空比voidMOTOR_Ctrl(){ switch(Motor_State&0x03)//根據(jù)方向設(shè)置，調(diào)整方向設(shè)置端口

{

case0:{IN1=0;IN2=0;break;}

case1:{IN1=1;IN2=0;break;}

case2:{IN1=0;IN2=1;break;}

}

Duty=(Motor_State&0x30)>>4;//根據(jù)速度設(shè)置，調(diào)整PWM占空比

//PWM輸出控制

if(Cnt_PWM<=Duty) ENA=1;

elseENA=0; }//PWM周期計(jì)時(shí)

Cnt_PWM++;

if(Cnt_PWM>=Cycle)

Cnt_PWM=0;在定時(shí)器對(duì)Cnt_PWM進(jìn)行0到PWM周期Cycle循環(huán)計(jì)時(shí)MOTOR_Ctrl函數(shù)為電機(jī)控制函數(shù)按照要求的電機(jī)轉(zhuǎn)動(dòng)方向設(shè)置模塊的IN1和IN2端口電平按照要求的電機(jī)轉(zhuǎn)速設(shè)置PWM占空比參數(shù)輸出PWM信號(hào)01020304按開發(fā)需要改變電機(jī)狀態(tài)控制變量Motor_State，改變電機(jī)工作狀態(tài)1.直流電機(jī)驅(qū)動(dòng)e7d195523061f1c01ef2b70529884c179423570dbaad84926380ABC1F97BAEF0C8FC051856578EAB7874501A1FFE158C4981707381814BCC4D9A8E3554438DEE4FBCF5A5B4D2A8B0989AB57E8BAC65EB4C7ADE47CB0CAEE0501E4A226B4263409BF6D490A639D9B9ED09071C131A40B4F721A3CABF56865E37DAC04C7C9B262B2670CBBEB096AEE5D9F6218CBA6315072.舵機(jī)驅(qū)動(dòng)e7d195523061f1c01ef2b70529884c179423570dbaad84926380ABC1F97BAEF0C8FC051856578EAB7874501A1FFE158C4981707381814BCC4D9A8E3554438DEE4FBCF5A5B4D2A8B0989AB57E8BAC65EB4C7ADE47CB0CAEE0501E4A226B4263409BF6D490A639D9B9ED09071C131A40B4F721A3CABF56865E37DAC04C7C9B262B2670CBBEB096AEE5D9F6218CBA631507舵機(jī)（伺服馬達(dá)、servo）01從控制端輸入的PWM信號(hào)能用于設(shè)定輸出軸的轉(zhuǎn)動(dòng)角度02舵機(jī)能比較精確地控制和保持輸出軸的角度。通常，這樣的電機(jī)控制方式為閉環(huán)控制2.舵機(jī)驅(qū)動(dòng)e7d195523061f1c01ef2b70529884c179423570dbaad84926380ABC1F97BAEF0C8FC051856578EAB7874501A1FFE158C4981707381814BCC4D9A8E3554438DEE4FBCF5A5B4D2A8B0989AB57E8BAC65EB4C7ADE47CB0CAEE0501E4A226B4263409BF6D490A639D9B9ED09071C131A40B4F721A3CABF56865E37DAC04C7C9B262B2670CBBEB096AEE5D9F6218CBA631507舵機(jī)（伺服馬達(dá)、servo）2.舵機(jī)驅(qū)動(dòng)e7d195523061f1c01ef2b70529884c179423570dbaad84926380ABC1F97BAEF0C8FC051856578EAB7874501A1FFE158C4981707381814BCC4D9A8E3554438DEE4FBCF5A5B4D2A8B0989AB57E8BAC65EB4C7ADE47CB0CAEE0501E4A226B4263409BF6D490A639D9B9ED09071C131A40B4F721A3CABF56865E37DAC04C7C9B262B2670CBBEB096AEE5D9F6218CBA631507驅(qū)動(dòng)芯片直接驅(qū)動(dòng)（無需隔離、驅(qū)動(dòng)電流要求不高）光耦隔離的舵機(jī)電路連接//定義為全局變量或者靜態(tài)變量unsignedcharCycle_Stevo=160;//舵機(jī)驅(qū)動(dòng)PWM周期單位0.125ms實(shí)際時(shí)長(zhǎng)20msunsignedcharDuty_Stevo=0;

//舵機(jī)驅(qū)動(dòng)PWM信號(hào)高電平持續(xù)時(shí)間unsignedcharCnt_Stevo_PWM=0;//舵機(jī)驅(qū)動(dòng)PWM信號(hào)計(jì)時(shí)器

單位0.125ms

//定時(shí)器平臺(tái)，PWM計(jì)時(shí)和驅(qū)動(dòng)輸出Cnt_Stevo_PWM++;//舵機(jī)驅(qū)動(dòng)PWM信號(hào)計(jì)時(shí)器if(Cnt_Stevo_PWM>=Cycle_Stevo)Cnt_Stevo_PWM=0;//PWM20毫秒周期計(jì)時(shí)//PWM信號(hào)輸出電平控制if(Cnt_Stevo_PWM<=Duty_Stevo)

Stevo=1;elseStevo=0;2.舵機(jī)驅(qū)動(dòng)e7d195523061f1c01ef2b70529884c179423570dbaad84926380ABC1F97BAEF0C8FC051856578EAB7874501A1FFE158C4981707381814BCC4D9A8E3554438DEE4FBCF5A5B4D2A8B0989AB57E8BAC65EB4C7ADE47CB0CAEE0501E4A226B4263409BF6D490A639D9B9ED09071C131A40B4F721A3CABF56865E37DAC04C7C9B262B2670CBBEB096AEE5D9F6218CBA6315073.三輪小車調(diào)速轉(zhuǎn)向e7d195523061f1c01ef2b70529884c179423570dbaad84926380ABC1F97BAEF0C8FC051856578EAB7874501A1FFE158C4981707381814BCC4D9A8E3554438DEE4FBCF5A5B4D2A8B0989AB57E8BAC65EB4C7ADE47CB0CAEE0501E4A226B4263409BF6D490A639D9B9ED09071C131A40B4F721A3CABF56865E37DAC04C7C9B262B2670CBBEB096AEE5D9F6218CBA631507左電機(jī)芯片IC4右電機(jī)芯片IC5左電機(jī)右電機(jī)小車運(yùn)行狀態(tài)P40P20P22P210000停停停1010正轉(zhuǎn)正轉(zhuǎn)向前行0110反轉(zhuǎn)正轉(zhuǎn)向左轉(zhuǎn)0010停正轉(zhuǎn)左電機(jī)為中心原地向左轉(zhuǎn)1001正轉(zhuǎn)反轉(zhuǎn)向右轉(zhuǎn)1000正轉(zhuǎn)停右電機(jī)為中心原地向右轉(zhuǎn)0101反轉(zhuǎn)反轉(zhuǎn)向后退3.三輪小車調(diào)速轉(zhuǎn)向e7d195523061f1c01ef2b70529884c179423570dbaad84926380ABC1F97BAEF0C8FC051856578EAB7874501A1FFE158C4981707381814BCC4D9A8E3554438DEE4FBCF5A5B4D2A8B0989AB57E8BAC65EB4C7ADE47CB0CAEE0501E4A226B4263409BF6D490A639D9B9ED09071C131A40B4F721A3CABF