【GD32F427开发板试用】基于GD32F427的纳姆轮小车

目标：

做一个四轮驱动小车，实现通过GD32F427控制小车前进，后退，左移，右移，左前，右前，左后，右后的移动，以及左转，右转，自旋转等运动；

主要器件：

GD32F427开发板；
L298N电机驱动模块*2；
纳姆轮小车;
减速电机*4;
车架;

实现过程介绍

L298N模块

网上资料较多，此处就不多赘述了。

只需要知道两个IO可以控制一个轮子的正反转和停止，还有一路可以接pwm实现输出电压控制进而实现速度控制就行。

纳姆轮

纳姆轮分A，B两种轮，安装时候需要注意；
安装好以后俯视图如下：

此时通过控制四个轮子不同的旋转方向即可达到控制小车前进，后退，左移，右移，左前，右前，左后，右后的移动，也可以控制小车左转，右转，自旋转等运动，比较好玩；

代码主要先实现对轮子的控制，然后通过封装一个小车结构体，调用轮子控制接口来实现小车运动。

成果视频

https://www.bilibili.com/vide...

代码介绍

1.轮子控制：

主要控制轮子正转，反转和暂停；
ps.把向前移动的轮子转向定义为正转，即看轮子外侧为顺时针旋转。

控制轮子代码如下：

void wheel_set_scroll(wheel_type *wheel,e_wheel_scroll scroll)
{
    wheel->wheel_scroll = scroll;
    switch(scroll)
    {
        case wheel_stop:
            gpio_ctl(0,wheel->ios[0]);
            gpio_ctl(0,wheel->ios[1]);
        break;
        case wheel_go:
            gpio_ctl(1,wheel->ios[0]);
            gpio_ctl(0,wheel->ios[1]);
        break;
        case wheel_back:
            gpio_ctl(0,wheel->ios[0]);
            gpio_ctl(1,wheel->ios[1]);
        break;
        case wheel_mini:
        case wheel_max:
        default:
            gpio_ctl(1,wheel->ios[0]);
            gpio_ctl(1,wheel->ios[1]);
        break;
    }
}

2.小车控制：

通过控制四个轮子的正反转达到控制小车移动的目的；
小轮我们分别命名为0,1,2,3号轮，如下所示
`

*0*-----*1*
***  |  ***
     |
***  |  ***
*2*-----*3*
***     ***

控制小车代码如下：

int car_move(car_type *pCar, e_car_direction direction)
{
    int ret = 0;
    pCar->car_direction = direction;
    switch(direction) {
        case car_stop: {
            wheel_set_scroll(&pCar->car_wheels[0], wheel_stop);
            wheel_set_scroll(&pCar->car_wheels[1], wheel_stop);
            wheel_set_scroll(&pCar->car_wheels[2], wheel_stop);
            wheel_set_scroll(&pCar->car_wheels[3], wheel_stop);
            break;
        }
        case car_forward: {
            wheel_set_scroll(&pCar->car_wheels[0], wheel_go);
            wheel_set_scroll(&pCar->car_wheels[1], wheel_go);
            wheel_set_scroll(&pCar->car_wheels[2], wheel_go);
            wheel_set_scroll(&pCar->car_wheels[3], wheel_go);
            break;
        }
        case car_back: {
            wheel_set_scroll(&pCar->car_wheels[0], wheel_back);
            wheel_set_scroll(&pCar->car_wheels[1], wheel_back);
            wheel_set_scroll(&pCar->car_wheels[2], wheel_back);
            wheel_set_scroll(&pCar->car_wheels[3], wheel_back);
            break;
        }
        case car_left: {
            wheel_set_scroll(&pCar->car_wheels[0], wheel_back);
            wheel_set_scroll(&pCar->car_wheels[1], wheel_go);
            wheel_set_scroll(&pCar->car_wheels[2], wheel_go);
            wheel_set_scroll(&pCar->car_wheels[3], wheel_back);
            break;
        }
        case car_right: {
            wheel_set_scroll(&pCar->car_wheels[0], wheel_go);
            wheel_set_scroll(&pCar->car_wheels[1], wheel_back);
            wheel_set_scroll(&pCar->car_wheels[2], wheel_back);
            wheel_set_scroll(&pCar->car_wheels[3], wheel_go);
            break;
        }
        case car_forward_left: {
            wheel_set_scroll(&pCar->car_wheels[0], wheel_stop);
            wheel_set_scroll(&pCar->car_wheels[1], wheel_go);
            wheel_set_scroll(&pCar->car_wheels[2], wheel_go);
            wheel_set_scroll(&pCar->car_wheels[3], wheel_stop);
            break;
        }
        case car_forward_right: {
            wheel_set_scroll(&pCar->car_wheels[0], wheel_go);
            wheel_set_scroll(&pCar->car_wheels[1], wheel_stop);
            wheel_set_scroll(&pCar->car_wheels[2], wheel_stop);
            wheel_set_scroll(&pCar->car_wheels[3], wheel_go);
            break;
        }
        case car_back_left: {
            wheel_set_scroll(&pCar->car_wheels[0], wheel_back);
            wheel_set_scroll(&pCar->car_wheels[1], wheel_stop);
            wheel_set_scroll(&pCar->car_wheels[2], wheel_stop);
            wheel_set_scroll(&pCar->car_wheels[3], wheel_back);
            break;
        }
        case car_back_right: {
            wheel_set_scroll(&pCar->car_wheels[0], wheel_stop);
            wheel_set_scroll(&pCar->car_wheels[1], wheel_back);
            wheel_set_scroll(&pCar->car_wheels[2], wheel_back);
            wheel_set_scroll(&pCar->car_wheels[3], wheel_stop);
            break;
        }
        case car_turn_left: {
            wheel_set_scroll(&pCar->car_wheels[0], wheel_back);
            wheel_set_scroll(&pCar->car_wheels[1], wheel_go);
            wheel_set_scroll(&pCar->car_wheels[2], wheel_back);
            wheel_set_scroll(&pCar->car_wheels[3], wheel_go);
            break;
        }
        case car_turn_right: {
            wheel_set_scroll(&pCar->car_wheels[0], wheel_go);
            wheel_set_scroll(&pCar->car_wheels[1], wheel_back);
            wheel_set_scroll(&pCar->car_wheels[2], wheel_go);
            wheel_set_scroll(&pCar->car_wheels[3], wheel_back);
            break;
        }
        default: {
            wheel_set_scroll(&pCar->car_wheels[0], wheel_stop);
            wheel_set_scroll(&pCar->car_wheels[1], wheel_stop);
            wheel_set_scroll(&pCar->car_wheels[2], wheel_stop);
            wheel_set_scroll(&pCar->car_wheels[3], wheel_stop);
            break;
        }
    }
    return ret;
}

int car_init(car_type *pCar)
{
    int ret = -1;
    int i,j;
    car_type car;
    if(pCar == NULL)
    {
        printf("pCar is NULL");
        return ret;
    }
    memset(&car, 0x00, sizeof(car_type));
    //wheel init GPIO
    car.car_wheels[0].ios[0] = GPIO_00;
    car.car_wheels[0].ios[1] = GPIO_01;
    car.car_wheels[1].ios[0] = GPIO_02;
    car.car_wheels[1].ios[1] = GPIO_03;
    car.car_wheels[2].ios[0] = GPIO_04;
    car.car_wheels[2].ios[1] = GPIO_05;
    car.car_wheels[3].ios[0] = GPIO_06;
    car.car_wheels[3].ios[1] = GPIO_07;
    for(i=0;i<4;i++)
    {
        for(j=0;j<2;j++)
        {
            gpio_init(car.car_wheels[i].ios[j]);
        }
    }
    memcpy(pCar, &car, sizeof(car_type));
    ret = 0;

    return ret;
}