步进电机驱动小车遇到的问题？

只看该作者 · 2019-4-14 00:26

最近在做步进电机的小车，42步进电机，使用步进电机驱动器驱动，可是程序写好之后，却发现小车一直在原地转，发现一个轮子向前，一个轮子向后。可是根据我的程序，应该是前行的状态。线路也检查了，没有问题。
代码如下，希望大神解惑：
#include "pwm.h"
#include "led.h"
#include "usart.h"

/**************左轮驱动器数据线初始化 ****************/
void Driverleft_Init(void)
{
GPIO_InitTypeDef  GPIO_InitStructure;

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);//

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5|GPIO_Pin_6; //DRIVER_DIR DRIVER_OE
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOE, &GPIO_InitStructure);

GPIO_ResetBits(GPIOE,GPIO_Pin_5);
GPIO_SetBits(GPIOE,GPIO_Pin_6);
}

void TIM14_PWM_Init(u32 arr,u32 psc)
{

GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_OCInitTypeDef  TIM_OCInitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14,ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE);

GPIO_PinAFConfig(GPIOF,GPIO_PinSource9,GPIO_AF_TIM14);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;          //GPIOF9
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOF,&GPIO_InitStructure);

TIM_TimeBaseStructure.TIM_Prescaler=psc;
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period=arr;
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;

TIM_TimeBaseInit(TIM14,&TIM_TimeBaseStructure);

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC1Init(TIM14, &TIM_OCInitStructure);
  TIM_OC1PreloadConfig(TIM14, TIM_OCPreload_Enable);

  TIM_ARRPreloadConfig(TIM14,ENABLE);

TIM_Cmd(TIM14, ENABLE);

}

/************** 右轮驱动器数据线初始化 ****************/
void Driverright_Init(void)
{
GPIO_InitTypeDef  GPIO_InitStructure;

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5|GPIO_Pin_6; //DRIVER_DIR DRIVER_OE
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOF, &GPIO_InitStructure);

GPIO_SetBits(GPIOF,GPIO_Pin_5);
GPIO_SetBits(GPIOF,GPIO_Pin_6);
}

void TIM13_PWM_Init(u32 arr,u32 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_OCInitTypeDef  TIM_OCInitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM13,ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE);

GPIO_PinAFConfig(GPIOF,GPIO_PinSource8,GPIO_AF_TIM13);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOF,&GPIO_InitStructure);

TIM_TimeBaseStructure.TIM_Prescaler=psc;
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period=arr;
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;

TIM_TimeBaseInit(TIM13,&TIM_TimeBaseStructure);

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC1Init(TIM13, &TIM_OCInitStructure);
      TIM_OC1PreloadConfig(TIM13, TIM_OCPreload_Enable);
      TIM_ARRPreloadConfig(TIM13,ENABLE);
TIM_Cmd(TIM13, ENABLE);

}