1.基本介紹

A4950的峰值輸出電流可達±3.5 A，工作電壓為7.6~40v。

優(yōu)點：相對于L298N模塊控制2個電機正反轉(zhuǎn)僅需要4個I/O口，體積小，發(fā)熱低。

缺點：需要2個PWM引腳才能控制正反轉(zhuǎn)，所以控制2個電機需要4PWM引腳，會使用STM32F103芯片一個定時器的全部PWM通道。

A4950模塊是靠輸入2路的PWM占空比的差值，來設(shè)定輸出電壓的大小，當(dāng)差值為0時輸出為0，反之當(dāng)占空比差值為100時輸出最大。

2.引腳功能和接線

3程序設(shè)計

接下來我使用STM32F103C8T6的標(biāo)準(zhǔn)庫代碼為例

定時器3初始化代碼

#include "stm32f10x.h"                  // Device header

void PWM_Init3(void)
{
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);

	GPIO_InitTypeDef GPIO_InitStructure1;
	GPIO_InitStructure1.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure1.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;
	GPIO_InitStructure1.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOB,&GPIO_InitStructure1);

	GPIO_InitTypeDef GPIO_InitStructure2;
	GPIO_InitStructure2.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure2.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;
	GPIO_InitStructure2.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA,&GPIO_InitStructure2);

	TIM_InternalClockConfig(TIM3);
	
	
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	
	TIM_TimeBaseInitStructure.TIM_Period  = 100-1;  //ARR
	TIM_TimeBaseInitStructure.TIM_Prescaler  = 3600-1; //PSC
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStructure);
	
	TIM_OCInitTypeDef TIM_OCInitStructure;
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;  //輸出比較模式
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
	TIM_OCInitStructure.TIM_Pulse = 0;//CCR
	
    TIM_OC1Init(TIM3,&TIM_OCInitStructure);
	TIM_OC2Init(TIM3,&TIM_OCInitStructure);
	TIM_OC4Init(TIM3,&TIM_OCInitStructure);
    TIM_OC3Init(TIM3,&TIM_OCInitStructure);
    
    TIM_ClearFlag(TIM3, TIM_FLAG_Update);
	
    TIM_Cmd(TIM3,ENABLE);
 }

 
 
void PWM_SetCompare1(uint16_t Compare)
 {
	 TIM_SetCompare1 (TIM3,Compare);
 }
  
void PWM_SetCompare2(uint16_t Compare)
 {
	 TIM_SetCompare2 (TIM3,Compare);
 }
 
void PWM_SetCompare3(uint16_t Compare)
 {
	 TIM_SetCompare3 (TIM3,Compare);
 }

void PWM_SetCompare4(uint16_t Compare)
 {
	 TIM_SetCompare4 (TIM3,Compare);
 }

電機控制函數(shù)

#include "stm32f10x.h"                  // Device header
#include "PWM.h"
void Motor_Init(void)
{
	PWM_Init3();
}
// you
void Motor_SetSpeed2(int16_t Speed)
{
	
		PWM_SetCompare3(50-Speed/2);
		PWM_SetCompare1(50+Speed/2);

	
}
//zuo
void Motor_SetSpeed1(int16_t Speed)
{
	
		PWM_SetCompare2(50-Speed/2);
		PWM_SetCompare4(50+Speed/2);

}

?mian函數(shù)代碼

#include "stm32f10x.h"                  // Device header
#include "Motor.h"
int main (void)
{
	Motor_Init(); //電機驅(qū)動初始化
	while(1)
	{
		
		Motor_SetSpeed1(20);//給電機1 向前20速度
		Motor_SetSpeed2(20);//給電機2 向前20速度
		
	}

}

全部源碼鏈接:主控/C8T6/A4950 · 亟待/electronic-game-code - 碼云 - 開源中國 (gitee.com)https://gitee.com/AD123zsg/electronic-game-code/tree/master/%E4%B8%BB%E6%8E%A7/C8T6/A4950文章來源地址http://www.zghlxwxcb.cn/news/detail-440629.html

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