# STM32CubeIDE control motors
###### tags: `Learning Notes`
[TOC]

## DC motor
1. Add pin: left click -> GPIO_Output
2. Change pin name: right click -> Enter User Label
3. Rename: DC1_1, DC1_2, DC2_1, DC2_2...

(If PWM is needed, then add a timer channel for each pwm:
timers -> select one TIMx -> Channel x: PWM Generation CHx
-> Click one pluse mode)

4. Generate Code
5. Add DC motor code in while loop:
* **four wheels go forward**

for(int i=0;i<4;i++){
  int a=1;
  int b=0;
  HAL_GPIO_WritePin(DC1_1_GPIO_Port, DC1_1_Pin, a);
  HAL_GPIO_WritePin(DC1_2_GPIO_Port, DC1_2_Pin, b);
  HAL_GPIO_WritePin(DC2_1_GPIO_Port, DC2_1_Pin, a);
  HAL_GPIO_WritePin(DC2_2_GPIO_Port, DC2_2_Pin, b);
  HAL_GPIO_WritePin(DC3_1_GPIO_Port, DC3_1_Pin, a);
  HAL_GPIO_WritePin(DC3_2_GPIO_Port, DC3_2_Pin, b);
  HAL_GPIO_WritePin(DC4_1_GPIO_Port, DC4_1_Pin, a);
  HAL_GPIO_WritePin(DC4_2_GPIO_Port, DC4_2_Pin, b);
  HAL_Delay(1000);
}

* **four wheels go backward**

for(int i=0;i<4;i++){
  int a=0;
  int b=1;
  HAL_GPIO_WritePin(DC1_1_GPIO_Port, DC1_1_Pin, a);
  HAL_GPIO_WritePin(DC1_2_GPIO_Port, DC1_2_Pin, b);
  HAL_GPIO_WritePin(DC2_1_GPIO_Port, DC2_1_Pin, a);
  HAL_GPIO_WritePin(DC2_2_GPIO_Port, DC2_2_Pin, b);
  HAL_GPIO_WritePin(DC3_1_GPIO_Port, DC3_1_Pin, a);
  HAL_GPIO_WritePin(DC3_2_GPIO_Port, DC3_2_Pin, b);
  HAL_GPIO_WritePin(DC4_1_GPIO_Port, DC4_1_Pin, a);
  HAL_GPIO_WritePin(DC4_2_GPIO_Port, DC4_2_Pin, b);
  HAL_Delay(1000);
}

PWM:
* Add PWM setup code in main function after user code:

HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);

:small_orange_diamond: htim1 means TIM1
* Add PWM code in while loop

htim1.Instance-> CCR1 = 80;
htim1.Instance-> CCR2 = 80;
htim1.Instance-> CCR3 = 80;
htim1.Instance-> CCR4 = 80;

## Servo (PWM)
1. Set timer:
Timers -> select one TIMx -> Channel x: PWM Generation CHx
2. Generate code
3. Add code to start PWM and set the value:

HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim12, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim13, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim14, TIM_CHANNEL_1);

htim10.Instance->CCR1 = 75;
htim12.Instance->CCR1 = 80;
htim13.Instance->CCR1 = 100;
htim14.Instance->CCR1 = 120;

4. Add code in while loop:

i=0;
while(i<10)
{
  htim10.Instance->CCR1 = 75-i;
  htim12.Instance->CCR1 = 80+i;
  htim13.Instance->CCR1 = 100-i;
  htim14.Instance->CCR1 = 120+i;
  i++;
  HAL_Delay(1000);
}

## Encoder (1 DC motor)
:spiral_note_pad: https://www.youtube.com/watch?v=xqzWQgpqHmI

### **1. TIM2~TIM5: General Timer**
### **2. Combined Channels: Encoder Mode**
> 

### **3. Counter Period: 65535**
> 

### **4. Encoder Mode: TI1 and TI2**
> 

### **5. Check TIM2 Global interrupt**

### **6. Add the code below**

/* Private user code --------*/
/* USER CODE BEGIN 0 */
:::info
uint32_t counter = 0;
int16_t count = 0;

void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
{
counter = __HAL_TIM_GET_COUNTER(htim);

count = (int16_t)counter;
}
:::
/* USER CODE END 0 */

int main(void)
{
/* USER CODE BEGIN 1 */

/* USER CODE END 1 */

/* MCU Configuration---------*/

/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();

/* USER CODE BEGIN Init */

/* USER CODE END Init */

/* Configure the system clock */
SystemClock_Config();

/* USER CODE BEGIN SysInit */

/* USER CODE END SysInit */

/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART2_UART_Init();
MX_TIM2_Init();

/* USER CODE BEGIN 2 */
:::info
HAL_TIM_Encoder_Start_IT(&htim2, TIM_CHANNEL_ALL);
:::

/* USER CODE END 2 */

### **7. Debug -> Add Live Expression**

**Result:**
{%youtube dW4vUvS0FHg %}

## Encoder(Multiple DC motor)
### Method 1: (Failed)
change the type of function **HAL_TIM_IC_CaptureCallBack** and return the variable counter
Also, change in the file **stm32f4xx_hal_tim.c**
And change in the file **stm32f4xx_hal_tim.h**
Compile successfully, but no response in the variable counter

### Method 2: (successful)
use if condition to set four different variable, other setup same as 1 DC motor Encoder

**Tutorial and Result:**
{%youtube G1HU4VpBhw0 %}

## ROS teleop-twist-keyboard control STM32
https://blog.csdn.net/weixin_39752599/article/details/86552189
https://blog.csdn.net/weixin_45438653/article/details/96884478

## Copy a project in STM32CubeIDE

:warning: If you want to add other function to the same STM32 board, ensure to signal pinning when setting the pins.
If not, the pin may change when adding more functions.

## multiple threads
:spiral_note_pad: https://www.twblogs.net/a/5c9f6ed1bd9eee59d3323683

## Voltage Sensor
https://www.taiwansensor.com.tw/product/voltage-sensor-%E9%9B%BB%E5%A3%93%E6%84%9F%E6%B8%AC%E5%99%A8-%E9%9B%BB%E5%A3%93%E6%AA%A2%E6%B8%AC%E6%A8%A1%E7%B5%84/
:round_pushpin: While measuring, you need to connect negative electrode of voltage sensor to STM32 GND, and S pin is needed to connect to a STM32 pin.

1. Analog -> ADC1 -> IN8
2. ADC Settings -> Continuous Conversion Mode: Enabled
3. Generate code
4. Add code:

/* USER CODE BEGIN PV */
uint16_t readValue;
float voltage;
/* USER CODE END PV */

  /* USER CODE BEGIN 2 */
  HAL_ADC_Start(&hadc1);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    HAL_ADC_PollForConversion(&hadc1,1000);
    readValue = HAL_ADC_GetValue(&hadc1);
    voltage =(float)readValue/4095*16.5;
    HAL_Delay(100);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */

5. Debug -> Live Expression -> Add Expression: voltage