RobotHardware-UESTC/Hardware/Firmware/GeekRobotBig_Firmware v1.0/HARDWARE/MOTO/moto.c

/******************** (C) COPYRIGHT 2023 GeekRebot *****************************
* File Name          : moto.c
* Current Version    : V1.0  & ST 3.5.0
* Author             : zhanli 719901725@qq.com
* Date of Issued     : 2023.04.06 zhanli: Create
* Comments           : ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
********************************************************************************/
#include "moto.h"
#include "bsp_sys.h"
/**----------------------------------------------------------------------
Ӳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˵<EFBFBD><EFBFBD><EFBFBD><EFBFBD>

// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PB0 -> R_PWM
PB13-> R_IN2
PB12-> R_IN1

PB1 -> L_PWM
PB14-> L_IN2
PB15-> L_IN1

PA0 -> LA
PA1 -> LB

// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>

// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PA0----<EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>A<EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD>ߵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>B2B<EFBFBD><EFBFBD>ʶ
PA1----<EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>B<EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD>ߵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>B2A<EFBFBD><EFBFBD>ʶ

// <20>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PB6----<EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>B<EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD>ߵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>B1A<EFBFBD><EFBFBD>ʶ
PB7----<EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>A<EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD>ߵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>B1B<EFBFBD><EFBFBD>ʶ

TB6612<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, С<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD><EFBFBD>Ӧǰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, Left<EFBFBD><EFBFBD>ӦA,Right<EFBFBD><EFBFBD>ӦB
*---------------------------------------------------------------------**/

//PWM<57><4D>timer3<72><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void MOTO_GPIO_Init(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);                                	    /*<2A><><EFBFBD><EFBFBD>GPIO<49><4F><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>*/																   
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;	    /*ѡ<><D1A1>Ҫ<EFBFBD><D2AA><EFBFBD>Ƶ<EFBFBD>GPIO<49><4F><EFBFBD><EFBFBD>*/	
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;                                            /*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽΪͨ<CEAA><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*/   
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;                                           /*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ50MHz */ 
	GPIO_Init(GPIOB, &GPIO_InitStructure);                                			            /*<2A><><EFBFBD>ÿ⺯<C3BF><E2BAAF><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>GPIO*/			
}

//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void MOTO_Left(char state)
{
	if(state == GO)//<2F><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0>
	{
		GPIO_SetBits(GPIOB,GPIO_Pin_12);
		GPIO_SetBits(GPIOB,GPIO_Pin_14);
		GPIO_SetBits(GPIOB,GPIO_Pin_15);
		TIM3->CCR4=1500;
	}
	if(state == BACK)//<2F><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	{
		GPIO_ResetBits(GPIOB,GPIO_Pin_12);
		GPIO_ResetBits(GPIOB,GPIO_Pin_14);
		GPIO_ResetBits(GPIOB,GPIO_Pin_15);
		TIM3->CCR4=1500;
	}
	if(state == STOP)//ͣת
	{
		TIM3->CCR4=0;  //<2F><><EFBFBD><EFBFBD>pwm
	}
}

//<2F>ҵ<EFBFBD><D2B5><EFBFBD>
void MOTO_Right(char state)
{
	if(state == GO)//<2F><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0>
	{
		GPIO_SetBits(GPIOB,GPIO_Pin_13);

        TIM3->CCR3=1500; //<2F><><EFBFBD><EFBFBD>pwm
	}
	if(state == BACK)//<2F><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	{
		GPIO_ResetBits(GPIOB,GPIO_Pin_13);

        TIM3->CCR3=1500; //<2F><><EFBFBD><EFBFBD>pwm
	}
	if(state == STOP)//ͣת
	{
		TIM3->CCR3=0; //<2F><><EFBFBD><EFBFBD>pwm
	}		
}

//***************************ǰ<><C7B0>***************************//
//ֻҪ<D6BB><D2AA><EFBFBD><EFBFBD>()<29><>״̬<D7B4>Ϳ<EFBFBD><CDBF>Ըı<D4B8><C4B1><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void Car_Go(void)
{
	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ǰ    //<2F>ҵ<EFBFBD><D2B5><EFBFBD> ǰ
	MOTO_Left(GO);  MOTO_Right(GO);
}

void Car_Back(void)
{
  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>       //<2F>ҵ<EFBFBD><D2B5><EFBFBD> <20><>
	MOTO_Left(BACK);  MOTO_Right(BACK);
}

//***************************<2A><><EFBFBD><EFBFBD>תȦ***************************//
void Car_Turn_Left(void)
{
	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>       //<2F>ҵ<EFBFBD><D2B5><EFBFBD> ǰ
	MOTO_Left(BACK);  MOTO_Right(GO);
}


//***************************<2A><><EFBFBD><EFBFBD>תȦ***************************//
void Car_Turn_Right(void)
{
	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ǰ    //<2F>ҵ<EFBFBD><D2B5><EFBFBD> <20><>
	MOTO_Left(GO);  MOTO_Right(BACK);
}

//***************************ͣ<><CDA3>***************************//
void Car_Stop(void)
{
	MOTO_Left(STOP);  
	MOTO_Right(STOP);
}