平衡车不用编码器可以吗_编码器结构及工作原理

void Encoder_Init_TIM2(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;  
TIM_ICInitTypeDef TIM_ICInitStructure;  
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;	
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入
GPIO_Init(GPIOA, &GPIO_InitStructure);					      
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; 
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值，我设的是65536，最大只能是66536，stm32f103的寄存器只有16bit
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3，就是四分频计数模式
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 10;// TIMx->CCMRx的位7:4，输入捕获1滤波器 ，IC1F用来滤波¨
TIM_ICInit(TIM2, &TIM_ICInitStructure);
TIM_ClearFlag(TIM2, TIM_FLAG_Update);//清除TIM的更新标志位
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
TIM_SetCounter(TIM2,0);//设置CNT的值，初始化的时候从0开始计数
TIM_Cmd(TIM2, ENABLE); 
}
/*TIM4初始化为编码器接口*/
void Encoder_Init_TIM4(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;  
TIM_ICInitTypeDef TIM_ICInitStructure;  
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//使能定时器4的时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//使能PB端口时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;	//端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入
GPIO_Init(GPIOB, &GPIO_InitStructure);					      //根据设定参数初始化GPIOB
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器 
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;TIM向上计数  
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 10;
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_ClearFlag(TIM4, TIM_FLAG_Update);//清除TIM的更新标志位
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
//Reset counter
TIM_SetCounter(TIM4,0);
TIM_Cmd(TIM4, ENABLE); 
}
/*单位时间编码器计数 输入定时器 输出速度值*/
int Read_Encoder(u8 TIMX)
{
int Encoder_TIM;    
switch(TIMX)
{
case 2:  Encoder_TIM= (short)TIM2 -> CNT;  TIM2 -> CNT=0;break;//读数据+计数值清零
case 3:  Encoder_TIM= (short)TIM3 -> CNT;  TIM3 -> CNT=0;break;	
case 4:  Encoder_TIM= (short)TIM4 -> CNT;  TIM4 -> CNT=0;break;	
default:  Encoder_TIM=0;
}
return Encoder_TIM;
}
/*中断服务函数，计数值溢出了就会进入中断，然后又会从0开始计数*/
void TIM4_IRQHandler(void)
{ 		    		  			    
if(TIM4->SR&0X0001)//溢出中断
{    				   				     	    	
}				   
TIM4->SR&=~(1<<0);//清除中断标志位 	    
}
void TIM2_IRQHandler(void)
{ 		    		  			    
if(TIM2->SR&0X0001)//溢出中断
{    				   				     	    	
}				   
TIM2->SR&=~(1<<0);//清除中断标志位 	    
}