62 lines
1.2 KiB
C
62 lines
1.2 KiB
C
#include "servo.h"
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#include "tim.h"
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#include "lcd.h"
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#include "motor.h"
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int16_t Servo_Speed = 1, Servo_goal = 0, Servo_position = 0;
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void Servo_SetAngle(int goal)
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{
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Servo_position = goal;
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__HAL_TIM_SET_COMPARE(&htim15, TIM_CHANNEL_2, ANGLETOCCR(goal));
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}
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// 往哪个方向转
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int Servo_toward(void)
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{
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if (Servo_goal > Servo_position)
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{
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return 1;
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}
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return -1;
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}
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void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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{
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static int times = 0;
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if (htim == &htim7)
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{
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if(times==Motor_tag)
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{
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Motor_time++;
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Motor_reset_ornot();
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}
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if(Motor_start)
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{
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Motor_tag=times;
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Motor_start=0;//清除标志位！！！
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}
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if (++times == 1000)
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{
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times = 0;
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}
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if (Servo_position == Servo_goal)
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{
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return;
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}
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if (Servo_Speed == 1)
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{
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Servo_position = Servo_goal;
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}
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if (Servo_Speed == 2 && times % 5 == 0)
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{
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Servo_position += Servo_toward();
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}
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if (Servo_Speed == 3 && times % 50 == 0)
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{
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Servo_position += Servo_toward();
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}
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Servo_SetAngle(Servo_position);
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}
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}
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