//時間：2015-5-3
//作者：0721的
//描述：RM戰車2號程序
//QQ??:825470791
#include?“main.h“
extern?unsigned?char?sbus_rx_buffer[25];
extern?volatile??int?sbus_rx_buffer_2[25];
extern?unsigned?int?ANGLE_L;?
extern?struct?RC_Ctl_t?RC_Ctl;
int?current_v_201=0target_v_201=0current_v_203=0target_v_203=0;??
int?current_p_201=0target_p_201=0current_p_203=0target_p_203=0;??
int?xian_wei_y=0xian_wei_p=0;
int32_t?L=250W=200R=75;?????????????????//車尺寸，單位mm
int32_t?X_speed=0;
int32_t?Y_speed=0;?
int32_t?W_speed=0;
int32_t?right_or_left=0;
int32_t?forward_or_back=0;
int32_t?W_right_or_left=0;??
char?tiao_bian;
char?ALLOW_LAUNCH=0;
char?ALLOW_DBUS=0;?
char?motor1_Direction;????????????//0或者1???????四個輪子方向
char?motor2_Direction;????????????//0或者1
char?motor3_Direction;????????????//0或者1
char?motor4_Direction;????????????//0或者1?
int?pwm_data1=0pwm_data2=0;???????????????//電機1輸出?????pwm_data_nint?pwm_data3=0pwm_data4=0;???????????????//電機2的輸出??
int?pwm_launch=20;?????????????????????????????//發射電機
int32_t?W1=0W2=0W3=0W4=0;???????????????????//四個電機的轉速單位mm/s

int?CH0=1024CH1=1024CH2=1024CH3=1024S1=0S2=0XX=0YY=0ZZ=0;????//通道數據寄存
void?MOTOR_GPIO_Configuration（void）;
void?Encoder_Configuration（void）;
void?CH_TO_SPEED（void）;
void?CH_TO_CLOUD（void）;
int?main（void）
{
??MOTOR_GPIO_Configuration（）;
??//PWM_Configuration（）;??????/*-PWM1---（PA9---TIM1_CH2）--PWM2---（PA8---TIM1_CH1）--*/
	TIM6_Configuration（）;
	CAN1_Configuration（）;?????/*----CAN1_TX-----PA12----CAN1_RX-----PA11----*/
	//CAN2_Configuration（）;?????/*----CAN2_TX-----PB13----CAN2_RX-----PB12----*/
	USART2_Configuration（）;???/*-----USART2_RX-----PA3-*/?//for?D-BUS
	USART3_Configuration（）;???/*-----USART3_TX-----PB10----USART3_RX-----PB11-----*/
	//Encoder_Configuration（）;??//TIM3?TIM5?connect?to?encodera-b
														//TIM3_CH1?-----?PC6//TIM3_CH2?-----?PC7
														//TIM5_CH1?-----?PA0//TIM5_CH2?-----?PA1
	TIM6_Start（）;??????????????

????while（1）
????{?
			
			if（ALLOW_DBUS==0）????????//若采集完成進行使用，不許采集
			{??
				CH_TO_CLOUD（）;
				CH_TO_SPEED（）;??
				ALLOW_DBUS=1;
			}?
			
????}
}


void?CH_TO_SPEED（void）
	{			


	
	???????if（CH0<364）CH0=364;if（CH0>1684）CH0=1684;??????//檢驗
	???????if（CH1<364）CH1=364;if（CH1>1684）CH1=1684;
	???????if（CH2<364）CH2=364;if（CH2>1684）CH2=1684;
	???????if（CH3<364）CH3=364;if（CH3>1684）CH3=1684;?
	
	???????if（CH1<=1684&&CH1>=1024）????????//CH2戰車右直走
				?{??		?
					?Y_speed=CH1-1024;
					?right_or_left=1;
				?}
				?
	???????else?if（CH1<1024&&CH1>=364）?????????//CH2戰車左直走
				?{??
					?Y_speed=1024-CH1;?
					?right_or_left=-1;
				?}				?
				?
	???????if（CH0<=1684&&CH0>=1024）?????????//CH3戰車前進
				?{??
					?X_speed=CH0-1024;?
					?forward_or_back=1;
				?}				?
					
	???????else?if（CH0<1024&&CH0>=364）?????????//CH3戰車后退
				?{???
					?X_speed=1024-CH0;
					?forward_or_back=-1;
				?}
				?
				?if（（CH2<824）||（CH2>1224））?????//YAW軸角度定義????更改區
				?{?
					?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-01-14?19:45??51oú??ì3_?ó???é?·??×??òμ￥????×êá?\
?????目錄???????????0??2018-05-20?03:24??51oú??ì3_?ó???é?·??×??òμ￥????×êá?\麥克納姆輪最簡單控制資料\
?????文件?????1528540??2018-05-20?03:06??51oú??ì3_?ó???é?·??×??òμ￥????×êá?\麥克納姆輪最簡單控制資料\IMG_20150528_225403_LI.jpg
?????文件????????5931??2018-05-20?03:12??51oú??ì3_?ó???é?·??×??òμ￥????×êá?\麥克納姆輪最簡單控制資料\main.c
?????文件?????1020882??2015-04-14?00:46??51oú??ì3_?ó???é?·??×??òμ￥????×êá?\麥克納姆輪最簡單控制資料\Mecanum輪逆矩陣研究_劉磊.pdf
?????文件????????2051??2018-05-20?03:26??51oú??ì3_?ó???é?·??×??òμ￥????×êá?\麥克納姆輪最簡單控制資料\程序中的重要部分截取.txt
?????目錄???????????0??2018-05-20?03:24??麥克納姆輪最簡單控制資料\
?????文件?????1528540??2018-05-20?03:06??麥克納姆輪最簡單控制資料\IMG_20150528_225403_LI.jpg
?????文件????????5931??2018-05-20?03:12??麥克納姆輪最簡單控制資料\main.c
?????文件?????1020882??2015-04-14?00:46??麥克納姆輪最簡單控制資料\Mecanum輪逆矩陣研究_劉磊.pdf
?????文件????????2051??2018-05-20?03:26??麥克納姆輪最簡單控制資料\程序中的重要部分截取.txt