Main STM32F4x Project for RoboGame 2024
| Motor | PWM (TIMER-CHANNEL) | EN_A | EN_B | Encoder_A | Encoder_B |
|---|---|---|---|---|---|
| M1 | PA2 (TIM5-CH3) | PC4 | PF1 | PE9 | PE11 |
| M2 | PA3 (TIM5-CH4) | PC5 | PF2 | PA5 | PA1 |
| M3 | PE5 (TIM9-CH1) | PF11 | PF3 | PA6 | PA7 |
| M4 | PE6 (TIM9-CH2) | PF12 | PF4 | PD12 | PD13 |
| SteeringEngine | PWM (TIMER-CHANNEL) |
|---|---|
| SE1 | PC6 (TIM8-CH1) |
| SE2 | PC7 (TIM8-CH2) |
| SE3 | PC8 (TIM8-CH3) |
| SE4 | PC9 (TIM8-CH4) |
| BLDC | PWM(TIMER-CHANNEL) |
|---|---|
| bldc1 | PB14 (TIM12-CH1) |
| bldc2 | PB15 (TIM12-CH2) |
| StepMotor | Pulse (TIMER-CHANNEL) | Enable | Direction |
|---|---|---|---|
| StepMotor | PF7 (TIM11-CH1) | PE10 | PE12 |
| Pump | Pinout |
|---|---|
| Pump1 | PF13 |
| Pump2 | PF14 |
| UART | RX | TX |
|---|---|---|
| U1 | PA10 | PA9 |
| U2 | PD6 | PD5 |
.