embedded/freertos-STM32F103ZET6
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改一下，向左是CW - 0, 向右是CCW - 1

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yankun
2026-02-06 17:56:40 +08:00
parent 58053fdd29
commit fcc90cc4b0
2 changed files with 13 additions and 12 deletions
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19
Core/Src/machine.c
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@@ -164,8 +164,8 @@ uint8_t Machine_IsAtLimit(void)
/**
* @brief 设置步进电机方向
* @param dir: 方向
* MOTOR_DIR_CWW (0): 向左移动 (CWW - Counter Clockwise)
* MOTOR_DIR_CW (1): 向右移动 (CW - Clockwise)
* MOTOR_DIR_CW (0): 向左移动 (CW - Clockwise)
* MOTOR_DIR_CCW (1): 向右移动 (CCW - Counter Clockwise)
* @note PD7为0表示向左，1表示向右
* @retval None
*/
@@ -174,7 +174,8 @@ void Machine_SetDirection(Motor_DirectionTypeDef dir)
GPIO_PinState pinState;
/* 根据方向设置PD7引脚状态 */
pinState = (dir == MOTOR_DIR_CWW) ? GPIO_PIN_RESET : GPIO_PIN_SET;
/* CW(0) = 向左 = GPIO_PIN_RESET, CCW(1) = 向右 = GPIO_PIN_SET */
pinState = (dir == MOTOR_DIR_CW) ? GPIO_PIN_RESET : GPIO_PIN_SET;
/* 设置方向引脚 */
HAL_GPIO_WritePin(MOTOR_DIR_PIN_PORT, MOTOR_DIR_PIN, pinState);
@@ -212,8 +213,8 @@ uint8_t Machine_MoveToOrigin(void)
{
uint32_t stepCount = 0;
/* 设置方向为向左（CWW） */
Machine_SetDirection(MOTOR_DIR_CWW);
/* 设置方向为向左（CW） */
Machine_SetDirection(MOTOR_DIR_CW);
DelayUs(STEP_DELAY_US);
/* 如果已经在原点，直接返回 */
@@ -276,7 +277,7 @@ uint8_t Machine_MoveToMaterial1(void)
steps = Machine_MmToSteps(DISTANCE_TO_MATERIAL1);
/* 向左移动 */
return Machine_MoveSteps(MOTOR_DIR_CWW, steps);
return Machine_MoveSteps(MOTOR_DIR_CW, steps);
}
/**
@@ -292,7 +293,7 @@ uint8_t Machine_MoveToMaterial2(void)
steps = Machine_MmToSteps(DISTANCE_TO_MATERIAL2);
/* 向左移动 */
return Machine_MoveSteps(MOTOR_DIR_CWW, steps);
return Machine_MoveSteps(MOTOR_DIR_CW, steps);
}
/**
@@ -308,7 +309,7 @@ uint8_t Machine_MoveToMaterial3(void)
steps = Machine_MmToSteps(DISTANCE_TO_MATERIAL3);
/* 向右移动 */
return Machine_MoveSteps(MOTOR_DIR_CW, steps);
return Machine_MoveSteps(MOTOR_DIR_CCW, steps);
}
/**
@@ -324,7 +325,7 @@ uint8_t Machine_MoveToMaterial4(void)
steps = Machine_MmToSteps(DISTANCE_TO_MATERIAL4);
/* 向右移动 */
return Machine_MoveSteps(MOTOR_DIR_CW, steps);
return Machine_MoveSteps(MOTOR_DIR_CCW, steps);
}
/* USER CODE BEGIN 1 */