Motor.cpp

#include "Motor.h"
#include <math.h>
#include "config.h"

Motor::Motor(GPIO_TypeDef *portA, uint16_t pinA,GPIO_TypeDef *portB, uint16_t pinB, TIM_HandleTypeDef *tim,uint16_t channel,int direction){
    this->portA = portA;
    this->pinA = pinA;
    this->portB = portB;
    this->pinB = pinB;
    this->tim = tim;
    this->channel = channel;
    this->direction = direction;
}

void Motor::init() {
    HAL_GPIO_WritePin(this->portA,this->pinA,GPIO_PIN_RESET);
    HAL_GPIO_WritePin(this->portB,this->pinB,GPIO_PIN_RESET);
//    HAL_TIM_PWM_Stop(this->tim,this->channel);
    HAL_TIM_PWM_Start(this->tim,this->channel);
//    __HAL_TIM_SET_COUNTER(this->tim,0);
    __HAL_TIM_SET_COMPARE(this->tim,this->channel,0);
}
/**
 * 控制电机转动
 * @param pwm
 */
void Motor::spin(int pwm) {


    // pwm限制范围
    if(pwm>MAX_PWM){
        pwm = MAX_PWM;
    }else if(pwm < MIN_PWM){
        pwm = MIN_PWM;
    }



    pwm*=this->direction;

    // 死区控制,如果本次的pwm 和上一次的pwm方向不一致
    if(pwm*lastPwm < 0){
        HAL_GPIO_WritePin(this->portA,this->pinA,GPIO_PIN_RESET);
        HAL_GPIO_WritePin(this->portB,this->pinB,GPIO_PIN_RESET);
    }

    lastPwm = pwm;
    if(pwm>0){ // 正转
        HAL_GPIO_WritePin(this->portA,this->pinA,GPIO_PIN_SET);
        HAL_GPIO_WritePin(this->portB,this->pinB,GPIO_PIN_RESET);
    }else if(pwm < 0){
        HAL_GPIO_WritePin(this->portA,this->pinA,GPIO_PIN_RESET);
        HAL_GPIO_WritePin(this->portB,this->pinB,GPIO_PIN_SET);
    }else{
        HAL_GPIO_WritePin(this->portA,this->pinA,GPIO_PIN_RESET);
        HAL_GPIO_WritePin(this->portB,this->pinB,GPIO_PIN_RESET);
    }

    __HAL_TIM_SET_COMPARE(this->tim,this->channel,abs(pwm));
}