init:全链路闭环控制调通

2026-06-06 21:26:08 +08:00
parent b5be64b642
commit f28d129e11
32 changed files with 5120 additions and 181 deletions
@@ -0,0 +1,33 @@
+#include "Motor.h"
+#include "zf_driver_gpio.h"
+#include "zf_driver_pwm.h"
+#include "PID_Controller.h"
+#include "MotorEncoder.h"
+
+void motor_init(void)
+{
+    gpio_init(DIR_L, GPO, GPIO_HIGH, GPO_PUSH_PULL);                           
+    pwm_init(PWM_L, 17000, 0);                                                
+
+    gpio_init(DIR_R, GPO, GPIO_HIGH, GPO_PUSH_PULL);                            
+    pwm_init(PWM_R, 17000, 0);
+}
+// 右电机速度设置
+void motor_set_pwm_right(int32 pwm)
+{
+    uint8_t dir = (pwm >= 0) ? 1 : 0;//根据电机接线方式调整方向
+    uint32 abs_pwm = abs(pwm);
+    if(pwm > MOTOR_MAX) pwm = MOTOR_MAX;
+	gpio_set_level(DIR_R, dir);//设置方向
+    pwm_set_duty(PWM_R, abs_pwm);//设置PWM占空比
+}
+
+// 左电机速度设置 - 需要根据实际硬件修改
+void motor_set_pwm_left(int32 pwm)
+{
+    uint8_t dir = (pwm >= 0) ? 0 : 1;//根据电机接线方式调整方向
+    uint32 abs_pwm = abs(pwm);
+    if(pwm > MOTOR_MAX) pwm = MOTOR_MAX;
+    gpio_set_level(DIR_L, dir);//设置方向
+    pwm_set_duty(PWM_L, abs_pwm);//设置PWM占空比
+}