Dual-track motion generation method based on STM32 single-chip microcomputer

The invention relates to a dual-track motion generation method based on an STM32 single-chip microcomputer. The method comprises the following steps: taking an STM32F103RCT6 single-chip microcomputer as a controller; creating two first arrays for storing sine wave array output small circles which are calculated in advance, and creating two second arrays which are revolution quantity arrays; peripherals including TIM6, DAC and DMA are configured, and the data of the first array and the data of the second array are generated into small sinusoidal arrays; data in the first array and data in the second array are transmitted to a register of the DAC through the DMA direct storage access peripheral, the DAC is triggered in a timing mode through the configured TIM, and the purpose of controlling the waveform frequency is achieved. According to the invention, the STM32F103RCT6 single-chip microcomputer is used for solving the problem of jamming during revolution of a small circle, and the welding effect is more unifo