UGV Microcontrol

This project uses STM32F407VGT6 to control 4 BTS7960 motor driver.

Instruction

FORWARD: TIM3
right front: TIM3_CH2 -> PA7. EN: PC6
left front: TIM3_CH1 -> PA6. EN: PC7
right back: TIM3_CH4 -> PB1. EN: PC8
left back: TIM3_CH3 -> PB0. EN: PC9
BACKWARD: TIM4
right front: TIM4_CH2 -> PD13. EN: PD1
left front: TIM4_CH1 -> PD12. EN: PD2
right back: TIM4_CH4 -> PD15. EN: PD3
left back: TIM4_CH3 -> PD14. EN: PD4