/* USER CODE BEGIN Private defines */
#define AIN2_Pin GPIO_PIN_12
#define AIN2_GPIO_Port GPIOB
#define AIN1_Pin GPIO_PIN_13
#define AIN1_GPIO_Port GPIOB

#define BIN2_Pin GPIO_PIN_14
#define BIN2_GPIO_Port GPIOB
#define BIN1_Pin GPIO_PIN_15
#define BIN1_GPIO_Port GPIOB
/* USER CODE END Private defines */

/* USER CODE BEGIN 2 */
	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);//开启TIM1_CH1
  	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_4);//开启TIM1_CH4
	HAL_GPIO_WritePin(AIN1_GPIO_Port,AIN1_Pin,GPIO_PIN_RESET);//AIN1为0
	HAL_GPIO_WritePin(AIN2_GPIO_Port,AIN2_Pin,GPIO_PIN_SET);//AIN2位1，反转
	HAL_GPIO_WritePin(BIN1_GPIO_Port,BIN1_Pin,GPIO_PIN_RESET);//BIN1为0
	HAL_GPIO_WritePin(BIN2_GPIO_Port,BIN2_Pin,GPIO_PIN_SET);//BIN2位1，反转
  /* USER CODE END 2 */

/* USER CODE BEGIN 3 */
	HAL_GPIO_WritePin(AIN1_GPIO_Port,AIN1_Pin,GPIO_PIN_RESET);
	HAL_GPIO_WritePin(AIN2_GPIO_Port,AIN2_Pin,GPIO_PIN_SET);
	HAL_GPIO_WritePin(BIN1_GPIO_Port,BIN1_Pin,GPIO_PIN_RESET);
	HAL_GPIO_WritePin(BIN2_GPIO_Port,BIN2_Pin,GPIO_PIN_SET);
	for(int i=0;i<7100;i++)
	{
		__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_4,i);//让轮子转起来
		HAL_Delay(1);
	}
	for(int j=7100;j>0;j--)
	{
		__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_4,j);
		HAL_Delay(1);
	}
	for(int i=0;i<7100;i++)
	{
		__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,i);
		HAL_Delay(1);
	}
	for(int j=7100;j>0;j--)
	{
		__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,j);
		HAL_Delay(1);
	}
 }
 /* USER CODE END 3 */

void Encoder_Start(void)   //启动两个编码器. 而编码器初始化HAL_TIM_Encoder_Init()和HAL_TIM_Encoder_MspInit()在main()函数中调用的MX_TIM2_Init()中。
{
	__HAL_TIM_SET_COUNTER(&htim2,0);   //用带参宏设置编码器的初始值为0(涉及正反转的需要)
	__HAL_TIM_SET_COUNTER(&htim3,0);

	HAL_TIM_Encoder_Start_IT(&htim2,TIM_CHANNEL_ALL);   //开启编码器的中断模式,两个定时器通道TI1和TI2是每个编码器的两个信号采集通道.
	HAL_TIM_Encoder_Start_IT(&htim3,TIM_CHANNEL_ALL);

	HAL_TIM_Encoder_Start(&htim2,TIM_CHANNEL_ALL);  //开启两个编码器
	HAL_TIM_Encoder_Start(&htim3,TIM_CHANNEL_ALL);
	
}

int Read_Speed(int TIMx)
{
	int Encoder_Value = 0;
	switch(TIMx)
	{
		case 2: 
			Encoder_Value =(short) __HAL_TIM_GET_COUNTER(&htim2);     //保存编码器计数器的值
			__HAL_TIM_SET_COUNTER(&htim2,0);                   //保存之后要清零,以便下次继续读取.另外每次清零后采样值减0,直接用单位时间的话就可以得出速度信息了.不要麻烦还要减去初值了.
			break;

		case 3: 
			Encoder_Value =(short) __HAL_TIM_GET_COUNTER(&htim3);
			__HAL_TIM_SET_COUNTER(&htim3,0);
			break;
		
		default:
			Encoder_Value = 0;
	}	
	return Encoder_Value;
}

  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */
    /* USER CODE BEGIN 3 */
	encoder2=Read_Speed(2);
	encoder3=Read_Speed(3);
	printf("A轮=%d,B轮=%d\n",encoder2,encoder3);
  }
}