2、main.c

  /* USER CODE BEGIN 2 */ 	OLED_Init();  	HAL_UART_Receive_IT(&huart2, (uint8_t *)&aRxBuffer, 1);  	TIM2->CCR2 = 420-1; 	TIM2->CCR3 = 1400-1; 	HAL_TIM_PWM_Start (&htim2, TIM_CHANNEL_2); 	HAL_TIM_PWM_Start (&htim2, TIM_CHANNEL_3);   /* USER CODE END 2 */    /* Infinite loop */   /* USER CODE BEGIN WHILE */   while (1)   { 	  OLED_ShowNum(30,20,cx,3,16); 	  OLED_ShowNum(30,40,cy,3,16); 	  OLED_Refresh();     /* USER CODE END WHILE */      /* USER CODE BEGIN 3 */ 	  if(flag) Tilt();   }   /* USER CODE END 3 */ } 

3、按键控制暂停

/* USER CODE BEGIN 4 */  void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)   { 	if(GPIO_Pin == KEY0_Pin){ 		HAL_Delay(20); //延时消抖 		if(GPIO_Pin == KEY0_Pin){ 			flag=0; 		} 	} } /* USER CODE END 4 */ 

六、巨人之肩

【毕业设计】基于STM32及OpenMV的云台追踪装置

电赛：二维云台控制

【毕业设计】基于STM32F103C8T6最小系统板与OpenMV的二维云台PID控制追踪系统

后续优化方案：PID调控

位置式PID与增量式PID区别浅析

七、源码提供

【STM32+OPENMV】二维云台颜色识别及追踪【无PID版】

八、成果展示

PTZ

九、优化方案：PID控制

#include "ptz.h" #include "string.h" #include "stdio.h" #include "stdlib.h" #include "main.h" #include "tim.h" #include "usart.h"  #define RXBUFFERSIZE	256 #define CCR_UD 			TIM1->CCR1   	//up and down....		RANGE:1250-7500 #define CCR_LR 			TIM1->CCR2   	//Left and Right....	RANGE:1250-7500 #define Cen_x  			160				//x轴中心坐标值 #define Cen_y  			120				//y轴中心坐标值  #define KP1 				0.45 #define KD1 				2 #define KP2 				0.35 #define KD2 				2  #define sp1				30 #define sp2				23 #define range			35    char RxBuffer[RXBUFFERSIZE],rx_buf[RXBUFFERSIZE]; uint8_t aRxBuffer; uint8_t Uart1_Rx_Cnt = 0;  int cnt_rx=0,cnt_dt=0; int cx=0,cy=0;     void Tilt(void) { 	if(PID1(cx,Cen_x)+CCR_LR>7450) CCR_LR=7450; 	else if(CCR_LR<1250) CCR_LR=1250; 	else CCR_LR+=PID1(cx,Cen_x); 	 	if(CCR_UD>4000) CCR_UD=4000; 	else if(CCR_UD<1250) CCR_UD=1250; 	else CCR_UD-=PID2(cy,Cen_y); 	 }   int PID1(int current,int target)  //PID速度控制 { 	static int LastError;					//Error[-1] 	int iError,Outpid;						//当前误差  	iError=target-current;		 			//增量计算 	Outpid=(KP1 * iError)  					//E[k]项 			+(KD1 * (iError-LastError));		//E[k]-E[k-1]项  	LastError=iError;						//存储误差，用于下次计算 	 	return Outpid; }  int PID2(int current,int target)  //PID速度控制 { 	static int LastError;					//Error[-1] 	int iError,Outpid;						//当前误差  	iError=target-current;		 			//增量计算 	Outpid=(KP2 * iError)  					//E[k]项 			+(KD2 * (iError-LastError));		//E[k]-E[k-1]项  	LastError=iError;						//存储误差，用于下次计算 	 	return Outpid; }        void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {     UNUSED(huart); 	if(huart==&huart2){ 		RxBuffer[Uart1_Rx_Cnt] = aRxBuffer; 		Uart1_Rx_Cnt++; 		if((RxBuffer[Uart1_Rx_Cnt-1] == 0xb3)&&(RxBuffer[Uart1_Rx_Cnt-2] == 0xb3)) cnt_rx=1;		//帧头判定 		else if((RxBuffer[Uart1_Rx_Cnt-2] == 0x0d)&&(RxBuffer[Uart1_Rx_Cnt-1] == 0x0a)) cnt_rx=2;	//帧尾判定 		else cnt_rx=0;  		switch (cnt_rx)         {         	case 1: 				Uart1_Rx_Cnt = 0; 				memset(RxBuffer,0x00,sizeof(RxBuffer));         		break;         	case 2: 				RxBuffer[Uart1_Rx_Cnt-1] = '\0'; 				RxBuffer[Uart1_Rx_Cnt-2] = '\0'; 				strcpy(rx_buf,RxBuffer);  				int st=0;						//有效数值开始位置 				cnt_dt=0;						//空格数 				for(int i=0;rx_buf[i];i++){ 					if(cnt_dt==4) break; 					if(rx_buf[i]==' ') { 						cnt_dt++; 						int temp=0; 						for(int j=st;j