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硬件部分主要包括以下三部分：

（1） 主控裝置：AB32VG1開發板

（2） 驅動裝置：四路（兩路）電機驅動模塊

（3）遙控通信：HC-HID

1.AB32VG1開發板

（1）開發平臺：RT-Thread Studio

（2）組態配置

比例閥主要是采用PWM電流驅動，采用閉環控制可以提高控制精度，所以組態配置中使能PWM信號和ADC0通道。此外，在PWM信號上疊加震顫能提高比例閥的動態響應，降低滯環，所以使能了硬件定時器timer。

（3）主要代碼 

①舵機控制

?? int sg(int argc, char *argv[])

{

    period1 = 10000000;   /* 周期為10ms，單位為納秒ns */

    pulse1 = 0;          /* PWM脈沖寬度值，單位為納秒ns */

    /* 設置LED引腳腳模式為輸出 */

    rt_pin_mode(SG_PIN_NUM, PIN_MODE_OUTPUT);

    /* 拉高LED引腳 */

    rt_pin_write(SG_PIN_NUM, PIN_HIGH);

    /* 查找設備 */

    pwm_dev = (struct rt_device_pwm *)rt_device_find(PWM_DEV_NAME);

    if (pwm_dev == RT_NULL)

    {

        rt_kprintf("steering gear control run failed! can't find %s device!\n", PWM_DEV_NAME);

        return RT_ERROR;

    }

    /* 設置PWM周期和脈沖寬度默認值 */

    rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL, period1, pulse1);

    /* 使能設備 */

    rt_pwm_enable(pwm_dev, PWM_DEV_CHANNEL);

    if(argc <2)

    {

        /* 由0度到180度，然后由180度到0度，循環運行5個周期 */

        t1 = 50;

        while (--t1)

        {

            rt_thread_mdelay(1000);

            rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL, period1, period1-500000);

            rt_thread_mdelay(5000);

            rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL, period1, period1-2500000);

        }

    }

    else

    {

        /*將msh輸入的字符轉換為數值*/

        pulse1 = Ascii2Hex(argv[1],strlen(argv[1]));

        /* 計算舵機目標位置所需要的高電平脈沖寬度 */

        t1 = 2000000/180*pulse1;

        pulse1 = period1-500000-t1; //pwm設定的占空比為低電平寬度，舵機控制使用高電平寬度控制旋轉角度

        /* 設置PWM周期和脈沖寬度 */

        rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL, period1, pulse1);

    }

}

void set_ang(uint8_t ang)  //period-500000 對應0° ，  period-2500000 對應180°， 90°對中，

{static rt_uint32_t ang_pulse;

    ang_pulse=1500000+ang/90*100000;

    pulse1=period1-ang_pulse;

    rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL, period1, pulse1);

}

②行走電機驅動

int main(void)

{

    uint8_t pin = rt_pin_get("PE.1");

    rt_pin_mode(pin, PIN_MODE_OUTPUT);

    uint8_t pin_dir1 = rt_pin_get("PA.0");  //電機方向控制

    uint8_t pin_dir2 = rt_pin_get("PA.1");  //電機方向控制

    rt_pin_mode(pin_dir1, PIN_MODE_OUTPUT);

    rt_pin_mode(pin_dir2, PIN_MODE_OUTPUT);

    rt_kprintf("Hello, world\n");

    thread_serial1();

    while (1)

    {

        rt_pin_write(pin, PIN_LOW);

        rt_thread_mdelay(500);

        rt_pin_write(pin, PIN_HIGH);

        rt_thread_mdelay(500);

        sg(0,"100000");

        rt_thread_mdelay(1000);

        tr(0,"2500000");

        if(rec_ok==1) //收到命令

            {

             rec_ok=0;

             if(rec_buf[1]=='L')// 左轉角度

                 {ang_l=(rec_buf[2]-0x30)*10 +(rec_buf[3]-0x30);}

             rt_kprintf("ang_l%d",ang_l);

             if(rec_buf[4]=='R')// 右轉角度

                 {ang_r=(rec_buf[5]-0x30)*10+(rec_buf[6]-0x30);}

             rt_kprintf("ang_r%d",ang_r);

             if(rec_buf[7]=='F')// 前進

                 {

                 rt_pin_write(pin_dir1, PIN_LOW);

                 rt_pin_write(pin_dir2, PIN_LOW);

                 }

             if(rec_buf[7]=='N')// 空擋

                 {

                 rt_pin_write(pin_dir1, PIN_HIGH);

                 rt_pin_write(pin_dir2, PIN_HIGH);

                  }

             if(rec_buf[7]=='R')// 后退

                 {

                 rt_pin_write(pin_dir1, PIN_LOW);

                 rt_pin_write(pin_dir2, PIN_HIGH);

                  }

             if(rec_buf[7]=='T')// 剎車

                 {speed=0;

                 rt_pin_write(pin_dir1, PIN_HIGH);

                 rt_pin_write(pin_dir2, PIN_LOW);

                 }

             speed=(rec_buf[8]-0x30)*10+(rec_buf[9]-0x30);

             rt_kprintf("apeedl%d",speed);

             clear_buf();

pwm_out(speed,speed);

             if (ang_l>ang_r)

                 set_ang(-ang_l);

             else {

                 set_ang(-ang_r);

                   }

            }

    }

}

通過串口調試助手發送小車控制命令，小車能實現前進、后退、左轉、右轉動作，也能控制小車的速度。