Input Filter滤波值是从1-15,看情况设定,是用来滤除一些杂波的。 在这里插入图片描述 (3) 生成代码 这样基本就配置好了,生成mdk工程。 然后就是添加应用代码了。 在初始化中添加打开定时器的encoder模式: HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL); 1 2 然后定期调用下面这一句函数就可以获取到encoder...
E将sConfig.IC2Filter = 0xF;这样设置后,一顿乱转后的计数明显好转。两个通道都能配置通道滤波。 D将sConfig.EncoderMode = TIM_ENCODERMODE_TI1;这样设置后,还能分辨正反转,但是计数以2的基数递增。 5输入捕获通道滤波器设置: Bits 7:4 IC1F: Input capture 1 filter This bit-field defines the frequenc...
1. Input Filter滤波值是从1-15,看情况设定,是用来滤除一些杂波的。 这样基本就配置好了,生成mdk工程。 然后就是添加应用代码了。 在初始化中添加打开定时器的encoder模式: HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL); 1. 然后定期调用下面这一句函数就可以获取到encoder编码器的计数值: enc1 = (uin...
< Center-aligned counting mode 3 */ 成员Period 用于设置定时器周期,对于32位的TIM2和TIM5范围是0到0xFFFFFFFF,其它定时器是0到0xFFFF。 成员ClockDivision 用于指示定时器时钟 (CK_INT) 频率与死区发生器以及数字滤波器(ETR、TIx)所使用的死区及采样时钟 (tDTS) 之间的分频比。
Now go to the Parameter Settings and set the counter settings. The counter period is set as 65535. The auto-reload preload is enabled. The encoder mode is set and the input filter is set as 10 to reduce any noise on the input pins. ...
2× 32-bit timers with up to 4 IC/OC/PWM or pulse counter and quadrature (incremental) encoder input 2× 16-bit advanced timers 10 × 16-bit general-purpose timers (including 2 basic timers without PWM) 5× 16-bit low-power timers ...
2 x 32-bit timer and 2 x 16-bit timers with up to four IC/OC/PWM or pulse counter and quadrature (incremental) encoder input 3 x 16-bit 8-channel advanced motor control timers, with up to 8 x PWM channels, dead time generation and emergency stop ...
CAN_FilterTypeDef sFilterConfig; /*##-2- Configure the CAN Filter ###*/ sFilterConfig.FilterBank = 0; sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; sFilterConfig.FilterIdHigh = 0x0000; sFilterConfig.FilterIdLow...
–2 x 32-bit timer and 2 x 16-bit timers with up to four IC/OC/PWM or pulse counter and quadrature (incremental) encoder input –3 x 16-bit 8-channel advanced motor control timers, with up to 8 x PWM channels, dead time generation and emergency stop ...
odrv0.axis0.controller.config.control_mode=2 //设置控制模式为速度控制 odrv0.axis0.controller.config.input_mode=1 //设置输入的控制值以什么方式运转,我选择的是直接控制 odrv0.axis0.controller.config.vel_gain=0.3 odrv0.axis0.controller.config.vel_integrator_gain=0.6//设置速度环的P与I的值 ...