ROS机器人STM32地盘程序_移动机器人运动控制怎么和地盘结合资源-CSDN文库

共683个文件

c：348个

h：124个

s：43个

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ROS机器人STM32地盘程序是一个专为机器人开发的项目，它基于强大的开源操作系统Robot Operating System (ROS) 和微控制器STM32。STM32是一款高性能、低功耗的32位微控制器，广泛应用于各种嵌入式系统，尤其是机器人平台。这个程序集成了关键的硬件接口和算法，以实现机器人的自主导航和稳定控制。让我们深入了解一下PID（比例-积分-微分）算法。PID控制器是工业自动化中常用的控制算法，它通过结合当前误差、累计误差和未来误差来调整控制信号。在ROS机器人STM32地盘程序中，PID算法被用于精确控制电机速度和位置，确保机器人移动时的稳定性和平稳性。通过不断调整PID参数，可以优化机器人的动态性能，减少定位误差。接下来，我们来看看IMU（惯性测量单元）和九轴陀螺仪。IMU是一种传感器集合，通常包含加速度计、陀螺仪和磁力计，用于测量物体的线性加速度、角速度和方向。GY85是特定型号的九轴传感器模块，能同时提供三轴加速度、三轴角速度和三轴磁力数据。这些数据对于机器人的姿态估计至关重要，可以用来计算机器人的实时位置、方向和运动状态，从而实现自主导航和避障功能。再者，串口通讯是STM32与上位机之间交换信息的关键途径。在这个项目中，STM32通过串行通信接口与上位机（如PC或其它控制器）进行数据交互，发送传感器数据，接收控制指令。这使得开发者可以在上位机上编写更高级别的算法，如路径规划、目标检测等，而底层控制则由STM32处理。 PWM（脉宽调制）控制电机是实现精确速度和扭矩控制的一种常见方法。通过改变PWM信号的占空比，可以调节电机的转速和力矩。STM32通过内部的定时器和比较单元生成PWM信号，进而驱动电机，确保机器人底盘的运动精确可控。 ROS机器人STM32地盘程序结合了ROS的强大功能和STM32的硬件优势，实现了从底层传感器数据处理到上层控制决策的全面集成。通过PID控制、IMU九轴陀螺仪、串口通讯和PWM电机控制，该项目为机器人地盘提供了可靠且灵活的解决方案，为后续的机器人研发和应用奠定了坚实的基础。

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ROS机器人STM32地盘程序（683个子文件）

F107RC_X2.axf 2.06MB

arm_common_tables.c 868KB

arm_dct4_init_f32.c 786KB

arm_dct4_init_q31.c 417KB

arm_rfft_init_f32.c 362KB

arm_dct4_init_q15.c 272KB

arm_rfft_init_q31.c 215KB

stm32f1xx_hal_i2c.c 173KB

stm32f1xx_hal_tim.c 166KB

arm_rfft_init_q15.c 141KB

stm32f1xx_hal_spi.c 103KB

stm32f1xx_hal_sd.c 90KB

stm32f1xx_hal_uart.c 87KB

stm32f1xx_hal_mmc.c 84KB

stm32f1xx_hal_adc.c 81KB

stm32f1xx_hal_usart.c 80KB

stm32f1xx_hal_irda.c 74KB

stm32f1xx_hal_eth.c 73KB

stm32f1xx_hal_smartcard.c 68KB

stm32f1xx_ll_usb.c 68KB

stm32f1xx_hal_tim_ex.c 63KB

stm32f1xx_hal_nand.c 62KB

arm_cfft_radix4_q15.c 56KB

stm32f1xx_hal_can.c 56KB

stm32f1xx_hal_adc_ex.c 53KB

stm32f1xx_hal_rtc.c 53KB

stm32f1xx_hal_i2s.c 49KB

stm32f1xx_ll_sdmmc.c 49KB

stm32f1xx_hal_rcc.c 48KB

stm32f1xx_ll_tim.c 46KB

arm_conv_partial_fast_q15.c 44KB

stm32f1xx_ll_adc.c 42KB

arm_cfft_radix4_q31.c 40KB

stm32f1xx_hal_pcd.c 40KB

arm_conv_fast_q15.c 40KB

arm_correlate_fast_q15.c 38KB

stm32f1xx_hal_flash_ex.c 38KB

stm32f1xx_ll_fsmc.c 36KB

arm_cfft_radix4_f32.c 35KB

stm32f1xx_hal_hcd.c 35KB

stm32f1xx_hal_nor.c 34KB

stm32f1xx_hal_dac.c 33KB

stm32f1xx_hal_rcc_ex.c 32KB

stm32f1xx_hal_flash.c 31KB

arm_fir_f32.c 30KB

stm32f1xx_hal_dma.c 29KB

arm_conv_partial_q15.c 25KB

arm_correlate_q7.c 25KB

stm32f1xx_hal_dac_ex.c 25KB

stm32f1xx_hal_pccard.c 24KB

stm32f1xx_ll_utils.c 24KB

arm_conv_partial_q7.c 24KB

arm_mat_inverse_f64.c 24KB

arm_mat_inverse_f32.c 24KB

arm_correlate_f32.c 24KB

arm_biquad_cascade_stereo_df2T_f32.c 23KB

stm32f1xx_hal_sram.c 23KB

arm_correlate_q15.c 23KB

arm_conv_q15.c 23KB

stm32f1xx_hal_gpio.c 22KB

stm32f1xx_hal_pwr.c 22KB

stm32f1xx_ll_spi.c 22KB

arm_fir_q15.c 22KB

arm_conv_q7.c 22KB

arm_conv_partial_f32.c 22KB

arm_conv_partial_fast_opt_q15.c 22KB

stm32f1xx_hal_cec.c 22KB

arm_conv_partial_opt_q7.c 22KB

arm_correlate_q31.c 21KB

arm_biquad_cascade_df1_32x64_q31.c 21KB

arm_conv_partial_opt_q15.c 21KB

arm_conv_partial_fast_q31.c 21KB

arm_correlate_fast_q31.c 20KB

stm32f1xx_hal.c 20KB

stm32f1xx_hal_cortex.c 20KB

arm_conv_f32.c 20KB

arm_fir_interpolate_f32.c 20KB

arm_conv_partial_q31.c 20KB

arm_biquad_cascade_df2T_f64.c 19KB

arm_biquad_cascade_df2T_f32.c 19KB

arm_fir_decimate_q15.c 19KB

arm_conv_fast_q31.c 19KB

arm_cfft_f32.c 19KB

stm32f1xx_ll_rtc.c 19KB

stm32f1xx_ll_usart.c 18KB

arm_cfft_radix2_q15.c 18KB

arm_dct4_f32.c 18KB

arm_conv_q31.c 18KB

stm32f1xx_hal_rtc_ex.c 18KB

arm_fir_lattice_f32.c 17KB

arm_fir_decimate_f32.c 17KB

arm_fir_decimate_fast_q15.c 17KB

arm_biquad_cascade_df1_f32.c 17KB

tim.c 17KB

arm_fir_lattice_q15.c 17KB

stm32f1xx_ll_rcc.c 16KB

system_stm32f1xx.c 16KB

arm_lms_f32.c 16KB

arm_lms_norm_f32.c 16KB

共 683 条

T2CFA0 000:584 SEGGER J-Link V4.90 Log File (0000ms, 0265ms total) T2CFA0 000:584 DLL Compiled: Jul 28 2014 10:35:20 (0000ms, 0265ms total) T2CFA0 000:584 Logging started @ 2017-09-25 16:14 (0000ms, 0265ms total) T2CFA0 000:584 JLINK_SetWarnOutHandler(...) (0000ms, 0265ms total) T2CFA0 000:584 JLINK_OpenEx(...) Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04 Hardware: V7.00 S/N: 20090928 Feature(s): RDI,FlashDL,FlashBP,JFlash,GDBFull returns O.K. (0265ms, 0530ms total) T2CFA0 000:849 JLINK_GetEmuCaps() returns 0x88EA5833 (0000ms, 0530ms total) T2CFA0 000:849 JLINK_TIF_GetAvailable(...) (0001ms, 0531ms total) T2CFA0 000:850 JLINK_SetErrorOutHandler(...) (0000ms, 0531ms total) T2CFA0 000:850 JLINK_ExecCommand("ProjectFile = "E:\temp2\X-2_F107RC\MDK-ARM\JLinkSettings.ini"", ...) returns 0x00 (0000ms, 0531ms total) T2CFA0 000:868 JLINK_ExecCommand("Device = STM32F107RC", ...)Device "STM32F107RC" selected (256 KB flash, 64 KB RAM). returns 0x00 (0007ms, 0538ms total) T2CFA0 000:875 JLINK_ExecCommand("DisableConnectionTimeout", ...) returns 0x01 (0000ms, 0538ms total) T2CFA0 000:875 JLINK_GetHardwareVersion() returns 0x11170 (0000ms, 0538ms total) T2CFA0 000:875 JLINK_GetDLLVersion() returns 49000 (0000ms, 0538ms total) T2CFA0 000:875 JLINK_GetFirmwareString(...) (0000ms, 0538ms total) T2CFA0 000:906 JLINK_GetDLLVersion() returns 49000 (0000ms, 0538ms total) T2CFA0 000:906 JLINK_GetCompileDateTime() (0000ms, 0538ms total) T2CFA0 000:914 JLINK_GetFirmwareString(...) (0000ms, 0538ms total) T2CFA0 000:918 JLINK_GetHardwareVersion() returns 0x11170 (0000ms, 0538ms total) T2CFA0 000:939 JLINK_TIF_Select(JLINKARM_TIF_SWD) returns 0x00 (0000ms, 0538ms total) T2CFA0 000:939 JLINK_SetSpeed(5000) (0000ms, 0538ms total) T2CFA0 000:939 JLINK_GetId() >0x108 TIF>Found SWD-DP with ID 0x1BA01477 >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x108 TIF>Found SWD-DP with ID 0x1BA01477 >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF>Found Cortex-M3 r1p1, Little endian. -- CPU_WriteMem(4 bytes @ 0xE0002000) -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU_ReadMem(4 bytes @ 0xE0002000)FPUnit: 6 code (BP) slots and 2 literal slots -- CPU_ReadMem(4 bytes @ 0xE000EDFC) -- CPU_ReadMem(4 bytes @ 0xE0001000) -- CPU_WriteMem(4 bytes @ 0xE0001000) -- CPU_ReadMem(4 bytes @ 0xE00FF010)TPIU fitted. -- CPU_ReadMem(4 bytes @ 0xE00FF014)ETM fitted. -- CPU_ReadMem(4 bytes @ 0xE00FF018) >0x0D TIF> >0x21 TIF> returns 0x1BA01477 (0056ms, 0594ms total) T2CFA0 000:995 JLINK_GetDLLVersion() returns 49000 (0000ms, 0594ms total) T2CFA0 000:995 JLINK_CORE_GetFound() returns 0x30000FF (0000ms, 0594ms total) T2CFA0 001:005 JLINK_GetDebugInfo(0x100) -- Value=0xE00FF003 returns 0x00 (0000ms, 0594ms total) T2CFA0 001:005 JLINK_GetDebugInfo(0x101) returns 0xFFFFFFFF (0000ms, 0594ms total) T2CFA0 001:005 JLINK_ReadMemEx(0xE0041FF0, 0x0010 Bytes, ..., AccessWidth = 33554436) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE0041FF0) - Data: 0D 00 00 00 90 00 00 00 05 00 00 00 B1 00 00 00 returns 0x10 (0001ms, 0595ms total) T2CFA0 001:006 JLINK_GetDebugInfo(0x102) returns 0xFFFFFFFF (0000ms, 0595ms total) T2CFA0 001:006 JLINK_GetDebugInfo(0x103) returns 0xFFFFFFFF (0000ms, 0595ms total) T2CFA0 001:006 JLINK_ReadMemEx(0xE0040FF0, 0x0010 Bytes, ..., AccessWidth = 33554436) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE0040FF0) - Data: 0D 00 00 00 90 00 00 00 05 00 00 00 B1 00 00 00 returns 0x10 (0001ms, 0596ms total) T2CFA0 001:007 JLINK_GetDebugInfo(0x104) returns 0xFFFFFFFF (0000ms, 0596ms total) T2CFA0 001:007 JLINK_GetDebugInfo(0x105) returns 0xFFFFFFFF (0000ms, 0596ms total) T2CFA0 001:007 JLINK_GetDebugInfo(0x106) returns 0xFFFFFFFF (0000ms, 0596ms total) T2CFA0 001:007 JLINK_GetDebugInfo(0x107) returns 0xFFFFFFFF (0000ms, 0596ms total) T2CFA0 001:007 JLINK_GetDebugInfo(0x10C) returns 0xFFFFFFFF (0000ms, 0596ms total) T2CFA0 001:007 JLINK_ReadMemU32(0xE000ED00, 0x0001 Items, ...) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000ED00) - Data: 31 C2 1F 41 returns 0x01 (0000ms, 0596ms total) T2CFA0 001:007 JLINK_GetDebugInfo(0x10F) returns 0xFFFFFFFF (0000ms, 0596ms total) T2CFA0 001:007 JLINK_SetResetType(JLINKARM_RESET_TYPE_NORMAL) returns JLINKARM_RESET_TYPE_NORMAL (0000ms, 0596ms total) T2CFA0 001:007 JLINK_Reset() -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000EDF0) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000EDFC) >0x35 TIF> -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000ED0C) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000EDF0) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000EDFC) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU_WriteMem(4 bytes @ 0xE0002000) -- CPU_ReadMem(4 bytes @ 0xE000EDFC) -- CPU_ReadMem(4 bytes @ 0xE0001000) (0020ms, 0616ms total) T2CFA0 001:027 JLINK_Halt() returns 0x00 (0000ms, 0616ms total) T2CFA0 001:027 JLINK_ReadMemU32(0xE000EDF0, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000EDF0) - Data: 03 00 03 00 returns 0x01 (0000ms, 0616ms total) T2CFA0 001:027 JLINK_WriteU32(0xE000EDF0, 0xA05F0003) -- CPU_WriteMem(4 bytes @ 0xE000EDF0) returns 0x00 (0001ms, 0617ms total) T2CFA0 001:028 JLINK_WriteU32(0xE000EDFC, 0x01000000) -- CPU_WriteMem(4 bytes @ 0xE000EDFC) returns 0x00 (0000ms, 0617ms total) T2CFA0 001:042 JLINK_GetHWStatus(...) returns 0x00 (0001ms, 0618ms total) T2CFA0 001:050 JLINK_GetNumBPUnits(Type = 0xFFFFFF00) returns 0x06 (0000ms, 0618ms total) T2CFA0 001:050 JLINK_GetNumBPUnits(Type = 0xF0) returns 0x2000 (0000ms, 0618ms total) T2CFA0 001:050 JLINK_GetNumWPUnits() returns 0x04 (0000ms, 0618ms total) T2CFA0 001:061 JLINK_GetSpeed() returns 0xFA0 (0000ms, 0618ms total) T2CFA0 001:066 JLINK_ReadMemU32(0xE000E004, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000E004) - Data: 02 00 00 00 returns 0x01 (0001ms, 0619ms total) T2CFA0 001:067 JLINK_ReadMemU32(0xE000E004, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000E004) - Data: 02 00 00 00 returns 0x01 (0001ms, 0620ms total) T2CFA0 001:068 JLINK_WriteMemEx(0xE0001000, 0x001C Bytes, ..., AccessWidth = 33554436) - Data: 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... -- CPU_WriteMem(28 bytes @ 0xE0001000) returns 0x1C (0000ms, 0620ms total) T2CFA0 001:068 JLINK_Halt() returns 0x00 (0000ms, 0620ms total) T2CFA0 001:068 JLINK_IsHalted() returns TRUE (0000ms, 0620ms total) T2CFA0 001:075 JLINK_WriteMem(0x20000000, 0x0164 Bytes, ...) - Data: 00 BE 0A E0 0D 78 2D 06 68 40 08 24 40 00 00 D3 ... -- CPU_WriteMem(356 bytes @ 0x20000000) returns 0x164 (0005ms, 0625ms total) T2CFA0 001:080 JLINK_WriteReg(R0, 0x08000000) returns 0x00 (0000ms, 0625ms total) T2CFA0 001:080 JLINK_WriteReg(R1, 0x044AA200) returns 0x00 (0000ms, 0625ms total) T2CFA0 001:080 JLINK_WriteReg(R2, 0x00000001) returns 0x00 (0000ms, 0625ms total) T2CFA0 001:080 JLINK_WriteReg(R3, 0x00000000) returns 0x00 (0000ms, 0625ms total) T2CFA0 001:080 JLINK_WriteReg(R4, 0x00000000) returns 0x00 (0000ms, 0625ms total) T2CFA0 001:080 JLINK_WriteReg(R5, 0x00000000) returns 0x00 (0000ms, 0625ms total) T2CFA0 001:080 JLINK_WriteReg(R6, 0x00000000) returns 0x00 (0000ms, 0625ms total) T2CFA0 001:080 JLINK_WriteReg(R7, 0x00000000) returns 0x00 (0000ms, 0625ms total) T2CFA0 001:080 JLINK_WriteReg(R8, 0x00000000) returns 0x00 (0000ms, 06

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