//* Copyright (c) Hands Free Team. All rights reserved.
//* Contact: QQ Exchange Group -- 521037187
//*
//* LICENSING TERMS:
//* The Hands Free is licensed generally under a permissive 3-clause BSD license.
//* Contributions are requiredto be made under the same license. //头文件自己根据提示定义即可//头文件自己根据提示定义即可///////////////////////////////////////////////////////////////////////////////////////////////////////////////#include "pwm.h"
#include "led.h"
//TIM1_CH1 PWM输出初始化
//arr：自动重装值
//psc：时钟预分频数
void TIM1_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;// 由于此处用到了JATG引脚作为普通IO口，因此需要*使能SWD 禁用JTAG*/同时，还需要在初始化之前打开AFIO时钟： RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);//1、打开复用时钟：
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);// *使能SWD 禁用JTAG*/同时，还需要在初始化之前打开AFIO时钟： 2、调用重映射函数：
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);// 使能timer1的时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE); //使能GPIO外设时钟使能
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //使能port of driver1，pb01
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE); //使能port of driver2，pB45
//电机1的两个方向的引脚，一个高电平一个低电平PB01
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; //>PB0 1端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //通用推挽输出GPIO_Mode_Out_PP
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度为50MHz，setbits输出高
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_SetBits(GPIOB,GPIO_Pin_0);//setbits输出高
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; //
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推 PB1
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //I
GPIO_Init(GPIOB, &GPIO_InitStructure); // 输出低
GPIO_ResetBits(GPIOB,GPIO_Pin_1);//RESETBITS 输出低
//电机2的两个方向的引脚，一个高电平一个低电平pB45
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; //>PC45 端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //通用推挽输出GPIO_Mode_Out_PP
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度为50MHz，setbits输出高
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_SetBits(GPIOB,GPIO_Pin_4);//setbits输出高
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; //
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推 PC
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //I
GPIO_Init(GPIOB, &GPIO_InitStructure); // 输出低
GPIO_ResetBits(GPIOB,GPIO_Pin_5);//RESETBITS 输出低
//设置该引脚为复用输出功能,输出TIM1 CH1的PWM脉冲波形 PA8
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //TIM_CH1
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //推挽复用输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
//设置该引脚为复用输出功能,输出TIM1 CH4的PWM脉冲波形 PA11
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; //TIM_CH4
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //推挽复用输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 80K
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 不分频
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值
TIM_OCInitStructure.TIM_OCPolarity =TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
TIM_OC1Init(TIM1, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值
TIM_OCInitStructure.TIM_OCPolarity =TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
TIM_OC4Init(TIM1, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_CtrlPWMOutputs(TIM1,ENABLE); //MOE 主输出使能
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable); //CH1预装载使能
TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable); //CH4预装载使能
TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的预装载寄存器
TIM_Cmd(TIM1, ENABLE); //使能TIM1
}
//////////////////////////////////////////////////////////////////////////////////////////////////////* Copyright (c) Hands Free Team. All rights reserved.
//* Contact: QQ Exchange Group -- 521037187#include "encoder.h"
#include "led.h"///TIM4 编码器输入，TIM4_CH1作A相，TIM4_CH2作B相GPIO_Pin_6|GPIO_Pin_7;TIM_ICInitTypeDef TIM_ICInitStructure;
void TIM4_Encoder_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);// 使能定时器时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //io口使能使用到的捕获编码器AB相借，
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
//推挽输出 ，IO口速度为50MHz
//初始化TIM4的时机单元
TIM_TimeBaseStructure.TIM_Period = 899; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 80K
TIM_TimeBaseStructure.TIM_Prescaler =0; //设置用来作为TIMx时钟频率除数的预分频值 不分频
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
//配置对应寄存器为编码器接口模式以及配置相关的输入捕获配置
//THE MODE OF ENCODER
TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12,TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
//TIM_ICPolarity_Rising上升沿捕获
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; //CC1S=01 选择输入端 IC1映射到TI1上
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM_ICInitStructure.TIM_ICFilter = 0x01;//IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM4, &TIM_ICInitStructure);
// Enable the TIM4 Update Interrupt
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ClearFlag(TIM4, TIM_FLAG_Update);
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
TIM_SetCounter(TIM4,0);
TIM_Cmd(TIM4, ENABLE); //使能TIM4
}
u8 TIM4CH1_CAPTURE_STA=0; //输入捕获状态
u16 TIM4CH1_CAPTURE_VAL; //输入捕获值
//定时器4中断服务程序
void TIM4_IRQHandler(void)
{
if((TIM4CH1_CAPTURE_STA&0X80)==0)//还未成功捕获
{
if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET)
{
if(TIM4CH1_CAPTURE_STA&0X40)//已经捕获到高电平了
{
if((TIM4CH1_CAPTURE_STA&0X3F)==0X3F)//高电平太长了
{
TIM4CH1_CAPTURE_STA|=0X80;//标记成功捕获了一次
TIM4CH1_CAPTURE_VAL=0XFFFF;
}else TIM4CH1_CAPTURE_STA++;
}
}
TIM_ClearITPendingBit(TIM4, TIM_IT_Update); //清除中断标志位
}
}
float HF_Get_Encode_TIM4(void)
{
float cnt;
cnt = (float)((uint16_t)0x7fff) - (float)((uint16_t)(TIM4->CNT)) ;
TIM4->CNT = 0x7fff;
return cnt;
}///TIM3 编码器输入，TIM3_CH1作A相，TIM4_CH3作B相GPIO_Pin_6|GPIO_Pin_7;{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);// 使能定时器时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //io口使能使用到的捕获编码器AB相借
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
//推挽输出 ，IO口速度为50MHz
//初始化TIM3的时机单元
TIM_TimeBaseStructure.TIM_Period = 899; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 80K
TIM_TimeBaseStructure.TIM_Prescaler =0; //设置用来作为TIMx时钟频率除数的预分频值 不分频
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
//配置对应寄存器为编码器接口模式以及配置相关的输入捕获配置
//THE MODE OF ENCODER
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12,TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
//TIM_ICPolarity_Rising上升沿捕获
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; //CC1S=01 选择输入端 IC1映射到TI1上
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM_ICInitStructure.TIM_ICFilter = 0x01;//IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM3, &TIM_ICInitStructure);
// Enable the TIM4 Update Interrupt
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;//0123
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;//0123
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ClearFlag(TIM3, TIM_FLAG_Update);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
TIM_SetCounter(TIM3,0);
TIM_Cmd(TIM3, ENABLE); //使能TIM3
}
u8 TIM3CH1_CAPTURE_STA=0; //输入捕获状态
u16 TIM3CH1_CAPTURE_VAL; //输入捕获值
//定时器3中断服务程序
void TIM3_IRQHandler(void)
{
if((TIM3CH1_CAPTURE_STA&0X80)==0)//还未成功捕获
{
if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET)
{
if(TIM3CH1_CAPTURE_STA&0X40)//已经捕获到高电平了
{
if((TIM3CH1_CAPTURE_STA&0X3F)==0X3F)//高电平太长了
{
TIM3CH1_CAPTURE_STA|=0X80;//标记成功捕获了一次
TIM3CH1_CAPTURE_VAL=0XFFFF;
}else TIM3CH1_CAPTURE_STA++;
}
}
TIM_ClearITPendingBit(TIM3, TIM_IT_Update); //清除中断标志位
}
}
float HF_Get_Encode_TIM3(void)
{
float cnt1;
cnt1 = (float)((uint16_t)0x7fff) - (float)((uint16_t)(TIM3->CNT)) ;
TIM3->CNT = 0x7fff;
return cnt1;
}
//红外遥控以及串口打印与之前的实验一致。此处不再重复。主函数
#include "led.h"
#include "delay.h"
#include "sys.h"
#include "pwm.h"
#include "usart.h"
#include "encoder.h"
#include "remote.h"
//* Copyright (c) Hands Free Team. All rights reserved.
//* Contact: QQ Exchange Group -- 521037187
//*
//* LICENSING TERMS:
//* The Hands Free is licensed generally under a permissive 3-clause BSD license.
//* Contributions are requiredto be made under the same license.
int main(void)
{
int cnt;
int cnt1;
u8 key;
u8 t=0;
u8 *str=0;
Remote_Init(); //红外接收初始化
delay_init(); //延时函数初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);// 设置中断优先级分组2qiangzhan 0,1,2,3,xiangying0,1,2,3
myusart_init(9600); //串口初始化为9600
LED_Init();//初始化与LED连接的硬件接口
TIM1_PWM_Init(899,0);//不分频。PWM频率=72000/(899+1)=80Khz . 电机的频率不得小于10K
TIM4_Encoder_Init(9999,72-1);//1s
TIM3_Encoder_Init(9999,72-1);//
while(1)
{
key=Remote_Scan();
if(key)
{
switch(key)
{
case 0:TIM_SetCompare1(TIM1,0);
TIM_SetCompare4(TIM1,0);
printf("stop\r\n");break; //str="ERROR";
case 162:TIM_SetCompare1(TIM1,0);
TIM_SetCompare4(TIM1,0);
printf(" turn off power \r\n");break; //str="POWER";
case 98:GPIO_SetBits(GPIOB,GPIO_Pin_1);//初始化时GPIO_SetBits(GPIOB,GPIO_Pin_0);//setbits输出高
GPIO_ResetBits(GPIOB,GPIO_Pin_0);//
TIM_SetCompare1(TIM1,500); //str="up";
cnt=(int)TIM_GetCounter(TIM4);
printf("MY CAR Position OF LEFT WHEEL up 顺时针 = %d\n\r\n", cnt);
GPIO_SetBits(GPIOB,GPIO_Pin_5);// 坏的 初始化时GPIO_SetBits(GPIOB,GPIO_Pin_4);//setbits输出高
GPIO_ResetBits(GPIOB,GPIO_Pin_4);
TIM_SetCompare4(TIM1,500); //str="up";
cnt1=(int)TIM_GetCounter(TIM3);
printf("MY CAR Position OF RIGHT WHEEL up 顺时针 坏的 = %d\n\r\n", cnt1);break; //str="UP";
case 2:printf("play i m smart\r\n");;break;
case 226:printf("ALIENTEK i m cute\r\n");break;
case 194:GPIO_SetBits(GPIOB,GPIO_Pin_1);//初始化时GPIO_SetBits(GPIOB,GPIO_Pin_0);//setbits输出高
GPIO_ResetBits(GPIOB,GPIO_Pin_0);//
TIM_SetCompare1(TIM1,600); //str="RIGHT";
cnt=(int)TIM_GetCounter(TIM4);
printf("MY CAR Position OF LEFT WHEEL right 顺时针 = %d\n\r\n", cnt);
GPIO_SetBits(GPIOB,GPIO_Pin_5);// 坏的 初始化时GPIO_SetBits(GPIOB,GPIO_Pin_4);//setbits输出高
GPIO_ResetBits(GPIOB,GPIO_Pin_4);
TIM_SetCompare4(TIM1,600); //str="RIGHT";
cnt1=(int)TIM_GetCounter(TIM3);
printf("MY CAR Position OF RIGHT WHEEL right 顺时针 坏的 = %d\n\r\n", cnt1);
break;
case 34:GPIO_SetBits(GPIOB,GPIO_Pin_0);//初始化时GPIO_SetBits(GPIOB,GPIO_Pin_0);//setbits输出高
GPIO_ResetBits(GPIOB,GPIO_Pin_1);
TIM_SetCompare1(TIM1,600); //str="left";
cnt=(int)TIM_GetCounter(TIM4);
printf("MY CAR Position of left wheel left 逆时针= %d\n\r\n", cnt);//str="LEFT";
GPIO_SetBits(GPIOB,GPIO_Pin_4);// 初始化时GPIO_SetBits(GPIOB,GPIO_Pin_4);//setbits输出高
GPIO_ResetBits(GPIOB,GPIO_Pin_5);
TIM_SetCompare4(TIM1,600); //str="LEFT";
cnt1=(int)TIM_GetCounter(TIM3);
printf("MY CAR Position OF right wheel left 逆时针 好的 = %d\n\r\n", cnt1);//str="LEFT";
break;
case 104:printf("1 i m smart\r\n");break; //str="1"
case 152:GPIO_SetBits(GPIOB,GPIO_Pin_0);
GPIO_ResetBits(GPIOB,GPIO_Pin_1);
TIM_SetCompare1(TIM1,150);
cnt=(int)TIM_GetCounter(TIM4);
printf("MY CAR Position of left wheel 2 逆时针= %d\n\r\n", cnt);break; //str="2"
case 176: GPIO_SetBits(GPIOB,GPIO_Pin_4);// 初始化时GPIO_SetBits(GPIOB,GPIO_Pin_4);//setbits输出高
GPIO_ResetBits(GPIOB,GPIO_Pin_5);
TIM_SetCompare4(TIM1,200); //str="3";
cnt1=(int)TIM_GetCounter(TIM3);
printf("MY CAR Position OF right wheel 3 逆时针 好的 = %d\n\r\n", cnt1);
break; //str="3"
case 48:GPIO_SetBits(GPIOB,GPIO_Pin_5);// 初始化时GPIO_SetBits(GPIOB,GPIO_Pin_4);//setbits输出高
GPIO_ResetBits(GPIOB,GPIO_Pin_4);
TIM_SetCompare4(TIM1,200); //str="4";
cnt1=(int)TIM_GetCounter(TIM3);
printf("MY CAR Position OF right wheel 4 顺时针 坏的 = %d\n\r\n", cnt1);break;//str="4"
case 24:GPIO_SetBits(GPIOB,GPIO_Pin_4);// 初始化时GPIO_SetBits(GPIOB,GPIO_Pin_4);//setbits输出高
GPIO_ResetBits(GPIOB,GPIO_Pin_5);
TIM_SetCompare4(TIM1,200); //str="35";
cnt1=(int)TIM_GetCounter(TIM3);
printf("MY CAR Position OF right wheel 5 逆时针 好的 = %d\n\r\n", cnt1);
break;//str="5"
case 122:printf("6 im the most beautiful girl\r\n"); ;break;//str="6"
case 16:GPIO_SetBits(GPIOB,GPIO_Pin_0);//初始化时GPIO_SetBits(GPIOB,GPIO_Pin_0);//setbits输出高
GPIO_ResetBits(GPIOB,GPIO_Pin_1);
TIM_SetCompare1(TIM1,200); //str="left";
cnt=(int)TIM_GetCounter(TIM4);
printf("MY CAR Position of left wheel 7 逆时针= %d\n\r\n", cnt);//str="LEFT";
GPIO_SetBits(GPIOB,GPIO_Pin_4);// 初始化时GPIO_SetBits(GPIOB,GPIO_Pin_4);//setbits输出高
GPIO_ResetBits(GPIOB,GPIO_Pin_5);
TIM_SetCompare4(TIM1,200); //str="LEFT";
cnt1=(int)TIM_GetCounter(TIM3);
printf("MY CAR Position OF right wheel 7 逆时针 好的 = %d\n\r\n", cnt1);//str="LEFT";
break; //str="7"
case 56:printf("8 陈豪杰最优秀\r\n");break; //str="8"
case 90:GPIO_SetBits(GPIOB,GPIO_Pin_0);//初始化时GPIO_SetBits(GPIOB,GPIO_Pin_0);//setbits输出高
GPIO_ResetBits(GPIOB,GPIO_Pin_1);
TIM_SetCompare1(TIM1,600); //str="left";
cnt=(int)TIM_GetCounter(TIM4);
printf("MY CAR Position of left wheel 0 逆时针= %d\n\r\n", cnt);//str="LEFT";
GPIO_SetBits(GPIOB,GPIO_Pin_4);// 初始化时GPIO_SetBits(GPIOB,GPIO_Pin_4);//setbits输出高
GPIO_ResetBits(GPIOB,GPIO_Pin_5);
TIM_SetCompare4(TIM1,600); //str="LEFT";
cnt1=(int)TIM_GetCounter(TIM3);
printf("MY CAR Position OF right wheel 0 逆时针 好的 = %d\n\r\n", cnt1);//str="LEFT";
break;//str="0"
case 66:printf("9 陈豪杰最漂亮\r\n"); ;break; //str="9"
}
}else {GPIO_ResetBits(GPIOD,GPIO_Pin_2);
delay_ms(100);
GPIO_SetBits(GPIOD,GPIO_Pin_2);
delay_ms(100);
}
}
}