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这个代码还没有测试通过，哈哈原理是不会错的你看吧
extern TIM_HandleTypeDef htim2;extern TIM_HandleTypeDef htim3;void adjustSpeed(TIM_HandleTypeDef htimx,/*引脚号*/unsigned int TIM_CHANNEL_X,/*速度*/int speed,int rotation){//获取分母值int motherPWM=htimx.Init.Period;float rate=motherPWM/100.0;if(rotation<0){HAL_GPIO_TogglePin(GPIOA,GPIO_PIN_4);HAL_GPIO_TogglePin(GPIOA,GPIO_PIN_5);HAL_GPIO_TogglePin(GPIOA,GPIO_PIN_6);HAL_GPIO_TogglePin(GPIOA,GPIO_PIN_7); speed=0-speed;}__HAL_TIM_SET_COMPARE(&htimx,TIM_CHANNEL_X,(speed*rate-1>0?speed*rate-1:0)); }void rotateLeft(){//要怎么样左转？左边轮胎=0，右边轮胎转就实现转向adjustSpeed(htim2,TIM_CHANNEL_1,0,0);adjustSpeed(htim2,TIM_CHANNEL_3,0,0);adjustSpeed(htim2,TIM_CHANNEL_2,30,0);adjustSpeed(htim2,TIM_CHANNEL_4,30,0);}void rotateRight(){//要怎么样左转？左边轮胎=0，右边轮胎转就实现转向adjustSpeed(htim2,TIM_CHANNEL_1,30,0);adjustSpeed(htim2,TIM_CHANNEL_3,30,0);adjustSpeed(htim2,TIM_CHANNEL_2,0,0);adjustSpeed(htim2,TIM_CHANNEL_4,0,0);}void goAhead(int speed){//要怎么样左转？左边轮胎=0，右边轮胎转就实现转向adjustSpeed(htim2,TIM_CHANNEL_1,speed,0);adjustSpeed(htim2,TIM_CHANNEL_3,speed,0);adjustSpeed(htim2,TIM_CHANNEL_2,speed,0);adjustSpeed(htim2,TIM_CHANNEL_4,speed,0);}void goBack(){//要怎么样左转？左边轮胎=0，右边轮胎转就实现转向adjustSpeed(htim2,TIM_CHANNEL_1,30,-1);adjustSpeed(htim2,TIM_CHANNEL_3,30,-1);adjustSpeed(htim2,TIM_CHANNEL_2,30,-1);adjustSpeed(htim2,TIM_CHANNEL_4,30,-1);}
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