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标题: 飞思卡尔光电管舵机，电机控制程序2 [打印本页]

作者: chensmake 时间: 2010-4-17 15:22
标题: 飞思卡尔光电管舵机，电机控制程序2
本帖最后由 chensmake 于 2010-4-17 15:27 编辑

//延时查询表 6*6
static UNIT DelayTable[]=
{
0,0,0,0,0,0,
0,0,0,0,0,0,
0,0,0,0,0,0,
0,0,0,0,0,0,
0,0,0,0,0,0,
0,0,0,0,0,0
}

void PWMInit() //32HHz
{
PWMCTL_CON01= 1; //0, 1合为16bit
PWMCAE_CAE1= 1; //Center mode
PWMCLK_PLCK1= 0; //Clock A
PWMPRCLK_PCKA= 5; //Clock A= 32MHz/32= 1MHz
PWMPOL_PPOL1= 0; //开始为低电压
PWMPER0,1= 10000; //50Hz PWM输出
PWMDTY0,1= MIDDLE; //(10000- 750)* 100%= 92。5%占空比，1.5ms高电压时间
PWME_PWME1= 1; //enable
}

static void delay(int ms)
{
  int ii,jj;
if (ms<1) ms=1;
for(ii=0;ii<ms;ii++)
   for(jj=0;jj<2770;jj++); //32MHz--1ms
}

static void SetPWM(UINT m_nPWM)  //PWM设置
{
PWMDTY0,1= m_nPWM;
}

//number 9种情况，sub 7种情况，LeftRight 2中情况
//共128种情况，采用模糊控制暂时归纳为11种情况
//11种情况将填入表中提供查询，11中情况分别为：
//左右5， 15， 30， 45， 60度
//和正中间0度
static UINT GetPWM(UCHAR number, UINT sub, UCHAR LeftRight)
{
switch(sub) //通过sub算出索引值
{
  case 0x8000- 0x0100:
  case 0x0100- 0x0001;
  case 0x0100- 0x0002;
sub= 0;
break;
  case 0x4000- 0x0100:
  case 0x0100- 0x0004:
sub= 1;
break;
  case 0x2000- 0x0100:
  case 0x0100- 0x0008:
sub= 2;
break;
  case 0x1000- 0x0100:
  case 0x0100- 0x0010:
sub= 3;
break;
  case 0x0800- 0x0100:
  case 0x0100- 0x0020:
sub= 4;
break;
  case 0x0400- 0x0100:
  case 0x0100- 0x0040:
sub= 5;
break;
  case 0x0200- 0x0100:
  case 0x0100- 0x0100:
  case 0x0100- 0x0080:
sub= 6;
break;

}
return PWMTable[number+ sub* 10+ LeftRight* 70];
}

//通过m_nPWM来改变速度，并返回改变的值
static UINT ChangeSpeed(UINT m_nPWM)
{
UINT m_nSpeed;
switch(m_nPWM) //根据m_nPWM 调节速度
{
  case LEFT60:
Speed(SPEED60);
m_nSpeed= SPEED60;
break;
  case LEFT45:
Speed(SPEED45);
m_nSpeed= SPEED45;
break;
  case LEFT30:
Speed(SPEED30);
m_nSpeed= SPEED30;
break;
  case LEFT15:
Speed(SPEED15);
m_nSpeed= SPEED15;
break;
  case LEFT5:
Speed(SPEED5);
m_nSpeed= SPEED5;
break;
  case MIDDLE:
Speed(SPEED0);
m_nSpeed= SPEED0;
break;
  case RIGHT60:
Speed(SPEED60);
m_nSpeed= SPEED60;
break;
  case RIGHT45:
Speed(SPEED45);
m_nSpeed= SPEED45;
break;
  case RIGHT30:
Speed(SPEED30);
m_nSpeed= SPEED30;
break;
  case RIGHT15:
Speed(SPEED15);
m_nSpeed= SPEED15;
break;
  case RIGHT5:
Speed(SPEED5);
m_nSpeed= SPEED5;
break;
}
return m_nSpeed;
}

//获得查表时的索引值
UINT GetIndex(UINT m_nSpeed)
{
if(m_nSpeed<= SPEED60)
{
  m_nSpeed= 0;
}
else if(m_nSpeed<= SPEED45)
{
  m_nSpeed= 1;
}
else if(m_nSpeed<= SPEED30)
{
  m_nSpeed= 2;
}
else if(m_nSpeed<= SPEED15)
{
  m_nSpeed= 3;
}
else if(m_nSpeed<= SPEED5)
{
  m_nSpeed= 4;
}
else
{
  m_nSpeed= 5;
}
return m_nSpeed;
}

//m_nSpeed2为欲设值
//m_nSpeed为当前速度
UINT GetDelay(UINT m_nSpeed, UINT m_nSpeed2)
{
m_nSpeed= GetIndex(m_nSpeed);
m_nSpeed2= GetIndex(m_nSpeed2);
return DelayTable[m_nSpeed* 6+ m_nSpeed2];
}

void Turn(UCHAR number, UINT sub, UCHAR LeftRight, UCHAR ret)//ret not be used now
{
UINT m_nPWM;
UINT m_nSpeed;
UINT m_nSpeed2;
UINT m_nDelay;    //延时参数
m_nPWM= GetPWM(number, sub, LeftRight);
m_nSpeed= GetSpeed()    //测速模块
m_nSpeed2= ChangeSpeed(m_nPWM);
if(m_nSpeed2> m_nSpeed)
  m_nSpeed= m_nSpeed2- m_nSpeed;
else
  m_nSpeed= m_nSpeed- m_nSpeed2;
SetPWM(m_nPWM);    //转角
m_nDelay= GetDelay(m_nSpeed, m_nSpeed2);
delay(m_nDelay);    //根据速度和角度延时
SetPWM(MIDDLE);    //舵机摆正
}
转载于：http://zhidao.baidu.com/question/90016084.html?si=1

作者: 星雨 时间: 2010-5-7 23:43
领教

作者: 安杰 时间: 2010-5-8 16:47
暂时看不懂！呵呵

作者: 嗷嗷疯 时间: 2010-5-8 17:16
楼主真好

作者: 龙游天下明 时间: 2012-2-17 13:11
看不懂

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