#include?“driver_motor.h“

#define?Millisecond（）?HAL_GetTick（）
#define?constrain（valuelowhigh）?（（value）<（low）?（low）:（（value）>（high）?（high）:（value）））

/**?PID?config?**/
float?motor_driver::_p?=?0.2;	//?P?constant
float?motor_driver::_i?=?0.5;	//?I?constant
float?motor_driver::_d?=?0.3;	//?D?constant

/*?motor?param?*/
float?motor_driver::_ticks_per_rev?=?1560;?/*?wheel?encoder‘s?no?of?ticks?per?rev（gear_ratio?*?pulse_per_rev）?*/
float?motor_driver::_motor_max_rpm?=?300;	/*?motor‘s?maximum?RPM?*/


motor_driver::motor_driver（TIM_HandleTypeDef&?encoder_htim?
														int8_t?encoder_direction
														TIM_HandleTypeDef&?pwm_htim
														uint32_t?pwm_channel
														uint16_t?pwm_max
														GPIO_TypeDef*?gpiox_in
														uint16_t?pin_in1
														uint16_t?pin_in2）
														:_pwm_htim（pwm_htim）
														_encoder_htim（encoder_htim）
{
	err_total?=?0;
	err_previous?=?0;
	/*?pwm?driver?*/
	//_pwm_htim?=?pwm_htim;
	_pwm_channel?=?pwm_channel;
	_pwm_max?=?pwm_max;
	_gpiox_in?=?gpiox_in;
	_pin_in1?=?pin_in1;
	_pin_in2?=?pin_in2;
	
	/*?PWM清零?*/
	__HAL_TIM_SET_COMPARE（&_pwm_htim_pwm_channel?0）;
	HAL_TIM_PWM_Start（&_pwm_htim?_pwm_channel）;
	/*?制動?*/
	HAL_GPIO_WritePin（_gpiox_in?_pin_in1?GPIO_PIN_SET）;
	HAL_GPIO_WritePin（_gpiox_in?_pin_in2?GPIO_PIN_SET）;
	
	/*?encoder?*/
	//_encoder_htim?=?encoder_htim;
	_encoder_direction?=?encoder_direction;
	tick_total?=?0;	/*?tick總里程?*/
	tick_last?=?0;
	HAL_TIM_Encoder_Start（&_encoder_htim?TIM_CHANNEL_ALL）;
}

void?motor_driver::set_rpm（float?rpm）
{
	int16_t?_pwm;
	double?err;
	
	rpm_cur?=?read_rpm（）;
	/*?pid?*/
	err?=?constrain（rpm?-_motor_max_rpm?_motor_max_rpm）?-?rpm_cur;
	err_total?+=?err;
	
	err_total?=?constrain（err_total?-_pwm_max/_i?_pwm_max/_i）;
	
	_pwm?=?_p*err?+?_i*err_total?+?_d*（err-err_previous）;

	err_previous?=?err;
	
	/*?pwm?*/
	_pwm?=?constrain（_pwm?-_pwm_max?_pwm_max）;
	/*?	if（abs（_pwm）?	/*?spin?*/
	spin（_pwm）;
	//print_usart1（“set_rpm[%6.1f]?tick_cur[%4d]?rpm_cur[%6.2f]?err[%7.2lf]?err_total[%7.2lf]?pwm[%3d]\r\n“?rpm?tick_cur?rpm_cur?err?err_total_pwm）;
}

void?motor_driver::spin（int16_t?pwm）
{
	/*?死區時間?*/
	if（（rpm_cur?>?0?&&?pwm??0））
	{
		__HAL_TIM_SET_COMPARE（&_pwm_htim_pwm_channel?0）;
//		HAL_GPIO_WritePin（_gpiox_in?_pin_in1?GPIO_PIN_RESET）;
//		HAL_GPIO_WritePin（_gpiox_in?_pin_in2?GPIO_PIN_RESET）;
	}
	if（pwm?>?0）?/*?正轉?*/
	{
		HAL_GPIO_WritePin（_gpiox_in?_pin_in2?GPIO_PIN_RESET）;
		HAL_GPIO_WritePin（_gpiox_in?_pin_in1?GPIO_PIN_SET）;
	}
	if（pwm?	{
		HAL_GPIO_WritePin（_gpiox_in?_pin_in1?GPIO_PIN_RESET）;
		HAL_GPIO_WritePin（_gpiox_in?_pin_in2?GPIO_PIN_SET）;
		pwm?=?-pwm;
	}
	__HAL_TIM_SET_COMPARE（&_pwm_htim_pwm_channel?pwm）;
}

double?motor_driver::read_rpm（）
{
	uint32_t?cur_milli_time;
	double?delta_mins_time;
	
	t

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????4801??2017-10-02?00:18??X-2_F107RC_GY85_V2.1\.mxproject

?????文件???????4043??2017-09-16?22:57??X-2_F107RC_GY85_V2.1\BSP\driver_motor.cpp

?????文件???????1647??2017-09-18?15:20??X-2_F107RC_GY85_V2.1\BSP\driver_motor.h

?????文件??????10147??2017-09-16?22:44??X-2_F107RC_GY85_V2.1\BSP\driver_oled12864.c

?????文件???????1891??2017-09-09?00:30??X-2_F107RC_GY85_V2.1\BSP\driver_oled12864.h

?????文件??????20180??2017-09-09?10:16??X-2_F107RC_GY85_V2.1\BSP\driver_oled12864_word.h

?????文件???????6821??2017-09-16?23:07??X-2_F107RC_GY85_V2.1\BSP\driver_ps2joystick.c

?????文件???????2177??2017-09-16?22:35??X-2_F107RC_GY85_V2.1\BSP\driver_ps2joystick.h

?????文件???????5010??2017-09-08?00:48??X-2_F107RC_GY85_V2.1\BSP\imu_gy85.cpp

?????文件???????2759??2017-09-16?22:35??X-2_F107RC_GY85_V2.1\BSP\imu_gy85.h

?????文件???????4415??2017-10-02?00:38??X-2_F107RC_GY85_V2.1\BSP\user_comm.c

?????文件????????542??2017-09-16?23:34??X-2_F107RC_GY85_V2.1\BSP\user_comm.h

?????文件????????636??2017-10-21?14:20??X-2_F107RC_GY85_V2.1\BSP\user_protcol.h

?????文件???????2828??2017-09-21?19:24??X-2_F107RC_GY85_V2.1\BSP\user_robot_base_2.cpp

?????文件????????802??2017-09-21?19:23??X-2_F107RC_GY85_V2.1\BSP\user_robot_base_2.h

?????文件????????201??2017-09-07?15:35??X-2_F107RC_GY85_V2.1\BSP\user_rosserial.cpp

?????文件???????1584??2017-09-16?22:45??X-2_F107RC_GY85_V2.1\BSP\user_rosserial.h

?????文件??????14686??2017-10-24?11:51??X-2_F107RC_GY85_V2.1\BSP\user_system.cpp

?????文件???????1400??2017-10-02?00:20??X-2_F107RC_GY85_V2.1\BSP\user_system.h

?????文件???????6250??2017-08-24?11:22??X-2_F107RC_GY85_V2.1\BSP\Wire.cpp

?????文件???????3113??2017-08-31?11:06??X-2_F107RC_GY85_V2.1\BSP\Wire.h

?????文件???????4208??2017-06-11?11:04??X-2_F107RC_GY85_V2.1\BSP\Wirebase.cpp

?????文件???????4669??2017-08-22?16:29??X-2_F107RC_GY85_V2.1\BSP\Wirebase.h

?????文件?????499383??2017-08-11?12:37??X-2_F107RC_GY85_V2.1\Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f100xb.h

?????文件?????544592??2017-08-11?12:37??X-2_F107RC_GY85_V2.1\Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f100xe.h

?????文件?????450054??2017-08-11?12:37??X-2_F107RC_GY85_V2.1\Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f101x6.h

?????文件?????460427??2017-08-11?12:37??X-2_F107RC_GY85_V2.1\Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f101xb.h

?????文件?????538241??2017-08-11?12:37??X-2_F107RC_GY85_V2.1\Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f101xe.h

?????文件?????553283??2017-08-11?12:37??X-2_F107RC_GY85_V2.1\Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f101xg.h

?????文件?????542782??2017-08-11?12:37??X-2_F107RC_GY85_V2.1\Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f102x6.h

............此處省略696個文件信息