????????本次選用的編碼器電機(jī)為13線的霍爾編碼器電機(jī)，電機(jī)減速比為30：1，轉(zhuǎn)動一圈輸出13*30=390個脈沖。輪胎直徑為75mm，輪胎周長為pi*d=3*75=225mm.定時器采用四倍頻計(jì)數(shù)，則一圈輸出390*4=1560個脈沖。具體編碼器知識這里就不多說了。

?????????根據(jù)測速原理：假設(shè)編碼器輸出的脈沖數(shù)為N，而電機(jī)轉(zhuǎn)動一圈輸出1569個脈沖，轉(zhuǎn)動一圈輪子將前進(jìn)225mm。那輸出脈沖數(shù)為N時前進(jìn)的距離就應(yīng)該為225*（N/1560）mm，再除以時間及可得速度。

下面為具體代碼：

encoder.c文件

#include "encoder.h"

void Encoder_TIM2_Init(void)
{
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);		//開時鐘
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStruct;							//配置IO口
	GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN_FLOATING;
	GPIO_InitStruct.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
	GPIO_Init(GPIOA, &GPIO_InitStruct);
	
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;				//定時器初始化
	TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStruct.TIM_Period = 65535;
	TIM_TimeBaseInitStruct.TIM_Prescaler = 0;
	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStruct);
	
	//定時器編碼器模式初始化
	TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
	
	TIM_ICInitTypeDef TIM_ICInitStruct; 						//輸入捕獲單元配置
	TIM_ICStructInit(&TIM_ICInitStruct);
	TIM_ICInitStruct.TIM_ICFilter = 10;
	TIM_ICInit(TIM2, &TIM_ICInitStruct);
	
	TIM_ClearFlag(TIM2, TIM_FLAG_Update);
	
	TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
	
	TIM_SetCounter(TIM2, 0);
	
	TIM_Cmd(TIM2, ENABLE);
}

void Encoder_TIM4_Init(void)
{
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStruct;
	GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN_FLOATING;
	GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
	GPIO_Init(GPIOB, &GPIO_InitStruct);
	
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
	TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStruct.TIM_Period = 65535;
	TIM_TimeBaseInitStruct.TIM_Prescaler = 0;
	TIM_TimeBaseInit(TIM4, &TIM_TimeBaseInitStruct);
	
	TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
	
	
	TIM_ICInitTypeDef TIM_ICInitStruct; 
	TIM_ICStructInit(&TIM_ICInitStruct);
	TIM_ICInitStruct.TIM_ICFilter = 10;
	TIM_ICInit(TIM4, &TIM_ICInitStruct);
	
	TIM_ClearFlag(TIM4, TIM_FLAG_Update);
	
	TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
	
	TIM_SetCounter(TIM4, 0);
	
	TIM_Cmd(TIM4, ENABLE);
}

int Read_Spead(int TIMx)			//讀取編碼器輸出脈沖數(shù)
{
	int value_1;
	switch(TIMx)
	{
		case 2:value_1 = (short)TIM_GetCounter(TIM2);TIM_SetCounter(TIM2, 0);break;
		case 4:value_1 = (short)TIM_GetCounter(TIM4);TIM_SetCounter(TIM4, 0);break;
		default:value_1 = 0;
	}
	return value_1;
}

void TIM2_IRQHander(void)
{
	if(TIM_GetITStatus(TIM2, TIM_IT_Update) == 1)
	{
		TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
	}
}

void TIM4_IRQHander(void)
{
	if(TIM_GetITStatus(TIM4, TIM_IT_Update) == 1)
	{
		TIM_ClearITPendingBit(TIM4, TIM_IT_Update);
	}
}

? ? ? ? 我使用的是簡單的delay一下來采集定時器捕獲的編碼器脈沖數(shù)，不過我建議使用定時器中斷來處理編碼器采集。此函數(shù)只采集右輪脈沖進(jìn)行計(jì)算

主函數(shù)循環(huán)體內(nèi)函數(shù)：文章來源地址http://www.zghlxwxcb.cn/news/detail-609358.html

while(1)
	{
		delay_s(1);
		{
			uint16_t right = Read_Spead(2);//采集右輪脈沖數(shù)
			displacement = 0.225 * (right / 1560);//計(jì)算位移
			speed = displacement;//由于我設(shè)置的為延時一秒就不用除時間
			OLED_Float(0, 0, speed, 4);//通過OLED顯示速度
			set_PWM(999);//設(shè)置電機(jī)PWM
			TIM_SetCounter(TIM2, 0);//下一次一秒計(jì)數(shù)前再一次將計(jì)數(shù)清零
		}
	}

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