驱动板：从外部引入高电压，控制电机驱动

电源部分

VM：电机驱动电源输入，输入电压范围建议为3.7～12V

GND：逻辑电源和电机驱动电源的公共地

VCC：逻辑电源输入，输入电压为

2.7-5.5V

电机接口

A0 B0可以接两个电机

电机控制端口

PWMA  B分别为两个电机控制的使能端

(可使用PWM调速)

AIN1\AIN2；BIN1\BIN2

STBY

使能引脚

IN1

IN2

PWM

STBY

O1

O2

H

H

H/L

H

L

L

制动

L

H

H

H

L

H

反转

L

H

L

H

L

L

制动

H

L

H

H

H

L

正转

H

L

L

H

L

L

制动

L

L

H

H

OFF

-

停止

H/L

H/L

H/L

L

OFF

-

待机

main.c

#include "stm32f10x.h"

#include "led.h"

#include "usart.h"

#include "delay.h"

#include "oled.h"

#include "Motor.h"

#include "key.h"

int key = 0;

int key_state = 0;

int main(void)

{ SystemInit();//系统时钟为72M  

      delay_init(72);

      LED_Init();

      LED_On();

      MOTOR_Init();

USART1_Config();//串口初始化

      Key_Init();

      OLED_Init();

      printf("Start \n");

      delay_ms(1000);

OLED_Clear();//显示电机转速

OLED_ShowChinese(0,0,0,16,1);

OLED_ShowChinese(16,0,1,16,1);

OLED_ShowChinese(32,0,2,16,1);

OLED_ShowChinese(48,0,3,16,1);

OLED_ShowChar(64,0,':',16,1);

  while (1)

  {key = Key_GetData();

           if(key)

                 key_state++;

           if(key_state%4==1)

           {Motor_SetSpeed(60);

OLED_ShowNum(56,24,1,1,16,1);

           }if(key_state%4==2)

           {Motor_SetSpeed(80);

OLED_ShowNum(56,24,2,1,16,1);}

           if(key_state%4==3)

           {Motor_SetSpeed(100);

OLED_ShowNum(56,24,3,1,16,1);}

           if(key_state%4==0)

           {Motor_SetSpeed(0); OLED_ShowNum(56,24,0,1,16,1);       //0}}}

Motor.c

#include "Motor.h"

void MOTOR_Init(void)

{

      GPIO_InitTypeDef GPIO_InitStructure;

      RCC_APB2PeriphClockCmd(MOTOR_CLK, ENABLE ); //配置时钟

      GPIO_InitStructure.GPIO_Pin = MOTOR_AIN1_GPIO_PIN;

      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;

      GPIO_Init(MOTOR_AIN1_GPIO_PORT,&GPIO_InitStructure);

      GPIO_InitStructure.GPIO_Pin = MOTOR_AIN2_GPIO_PIN;

      GPIO_Init(MOTOR_AIN2_GPIO_PORT,&GPIO_InitStructure);

      PWM_Init();

}

void PWM_Init(void)

{

      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);

      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);    //开启GPIOA的时钟

/*GPIO初始化*/

      GPIO_InitTypeDef GPIO_InitStructure;

      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;

      GPIO_InitStructure.GPIO_Pin = MOTOR_PWMA_GPIO_PIN;

      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

      GPIO_Init(MOTOR_PWMA_GPIO_PORT, &GPIO_InitStructure);                             //将PA1和PA2引脚初始化为推挽输出

      TIM_InternalClockConfig(TIM2);//配置实际单元

      TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;

      TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;          //时钟分频

      TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;           //计数模式

      TIM_TimeBaseInitStructure.TIM_Period = 100 - 1;               //自动重装ARR      分辨率

      TIM_TimeBaseInitStructure.TIM_Prescaler = 36 - 1;      //预分频PSC   

      TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;

      TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);

      TIM_OCInitTypeDef TIM_OCInitStructure;

      TIM_OCStructInit(&TIM_OCInitStructure);        //给结构体赋予初值

      TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;

      TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

      TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;

      TIM_OCInitStructure.TIM_Pulse = 0;               //CCR

      TIM_OC3Init(TIM2,&TIM_OCInitStructure);

      TIM_Cmd(TIM2,ENABLE);} 

void PWM_SetCompare3(uint16_t compare)

{TIM_SetCompare3(TIM2,compare);

}void Motor_SetSpeed(int8_t Speed)

{if(Speed >= 0)

      {

      GPIO_SetBits(MOTOR_AIN1_GPIO_PORT,MOTOR_AIN1_GPIO_PIN);

      GPIO_ResetBits(MOTOR_AIN2_GPIO_PORT,MOTOR_AIN2_GPIO_PIN);

      PWM_SetCompare3(Speed);

      }else{

      GPIO_ResetBits(MOTOR_AIN1_GPIO_PORT,MOTOR_AIN1_GPIO_PIN);

      GPIO_SetBits(MOTOR_AIN2_GPIO_PORT,MOTOR_AIN2_GPIO_PIN);

           PWM_SetCompare3(-Speed);}}

Motor.h

#ifndef __MOTOR_H

#define    __MOTOR_H

#include "stm32f10x.h"

#include "delay.h"

#include "sys.h"

/***************根据自己需求更改****************/

// TB6612FNG电机驱动模块 GPIO宏定义

#define    MOTOR_CLK                             RCC_APB2Periph_GPIOA

#define MOTOR_AIN1_GPIO_PIN                    GPIO_Pin_0

#define MOTOR_AIN2_GPIO_PIN                    GPIO_Pin_1

#define MOTOR_AIN1_GPIO_PORT                     GPIOA

#define MOTOR_AIN2_GPIO_PORT                     GPIOA

#define MOTOR_PWMA_GPIO_PIN                     GPIO_Pin_2

#define MOTOR_PWMA_GPIO_PORT                      GPIOA

/*********************END**********************/

void MOTOR_Init(void);

void PWM_Init(void);

void Motor_SetSpeed(int8_t Speed);

#endif