电机加减速转动

 1      GPIO_PinRemapConfig(GPIO_Remap_TIM4, ENABLE); //Timer完全映射  TIM4_CH3->PD14  
 2    
 3     
 4     TIM_TimeBaseStructure.TIM_Period = arr; //重装载
 5     TIM_TimeBaseStructure.TIM_Prescaler =psc;  //预分频
 6     TIM_TimeBaseStructure.TIM_ClockDivision = 0; //时钟分割
 7     TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //向上计数  
 8     TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); 
 9
10       //初始化TIM4_channel3   pwm模式
11     TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; 
12      TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;//比较输出使能
13     TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性
14     TIM_OC3Init(TIM4, &TIM_OCInitStructure);  //通道3的初始化
15 
16     TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable); 
17 
18     TIM_Cmd(TIM4, ENABLE); 

1     void JD_set(u8 x,u8 y)
2 {
3     JD1=x;
4     JD2=y;
5 } 

 1     void JD_set(u8 x,u8 y)
 2 {
 3     JD1=x;
 4     JD2=y;
 5 } 
 6 
 7  int main(void)
 8  {        
 9     u32 temp=0;
10      u16 pwmval=0;
11     u8 dir=1;    
12     usmart_dev.init(SystemCoreClock/1000000); //72HZ
13     delay_init(); 
14     NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);      
15     uart_init(115200);    //串口波特率
16      LED_Init();             
17   //  TIM8_Cap_Init(0XFFFF,72-1); 
18     JD_Init();
19      TIM4_PWM_Init(899,0);    //72MHZ/(899+1)=80KHZ
20 
21        while(1)
22     {
23         
24         
25                     delay_ms(10);     
26         　　if(dir)pwmval++;
27             else pwmval--;
28 
29             if(pwmval>899)dir=0;
30             if(pwmval==0)dir=1;                                         
31             TIM_SetCompare3(TIM4,pwmval);    
32     }
33 }