Note: All the libraries developed here are compatible and tested with STM32F407VG and STM32F103RB, in order to make them compatible with your own board, just replace the #include <stm32f4xx.h> or #include <stm32f1xx.h> with your own board.
This class is compatible with Cytron and Hercules Motor Driver.
I'll be creating a tutorial on how to use this class soon.
Library for interfacing incremental encoders with STM32, tested with STM32F103RB.
This library solves the existing limitations, and gives us positive as well as negative values, also the encoder values are not limited up to 16-bits.
Added base Library, supports Omni "like" bases. Tested on Omni Base as well.
I'll be adding the main project code which we'd tested on the bot, and some description on how to use all the mentioned libraries.
Library for using MPU6050 with STM32.
MPU6050 library is fully functional (02-04-2021)
The base code can be found in Bot_STM32. The main.cpp file is located in Bot_STM32/Core/Src/main.ino (Note : the .h and .cpp files will be organized properly, this is just for testing purposes, don't follow this style!!).
Below are the pinouts used in this project.
In main.cpp, we create motor object, and simply pass the address to the base class.
Motor motor_1(GPIOB, GPIO_PIN_10, &htim1, TIM_CHANNEL_1, TIM1); // This is one of the motor object whose address we are passing to the Base class's constructor.
This class accepts 5 parameters as constructor, where GPIOB is the port number of the input pinout, GPIO_PIN_10 is the pin number of the input pin, &htim1 is the address of the timer 1, TIM_CHANNEL_1 is the channel number used, and TIM1 is the timer number again. Note that the parameters can be reduced to 4 I believe, but I'm too lazy to do it (But you can always do a PR!).
And we are creating encoders object as well, in this project, we used 2 encoders (I wanted to use 4, but due to limitations of STM32F103 which had less numbers of timers, it was not possible.)
Encoder encoder_1(&htim2); // This is an encoder object, and we are simply passing the address of the timer we wish to use.
That's all! I've shared you most of the details which are necessary for using the Base, Motor and Encoder class, I'll still create the example codes if time permits, but till that time, you can reach me out @ alpharomeo911@protonmail.ch.
Library for interfacing TF-Mini with STM32.
Connections : UART, with only TX pin of TF-Mini connected with STM-32's RX.
Nucleo board comes with ST-Link and their STM32's UART2 pins are connected with ST-Link, which enables serial data transfer via UART. Just include this library, and pass the uart's address which is configured for the data transfer.
And you can use uprintf(char *) to print by passing an array of character to this function.
Documentation for STM32