硬件准备:stm32,两个舵机
舵机pwm波形输出,使用TIM2中的两个通道进行输出。
pwm.c
#include "stm32f10x.h" // Device header void PWM_Init(void) { RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1|GPIO_Pin_0; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); TIM_InternalClockConfig(TIM2); TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure; TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInitStructure.TIM_Period = 20000 - 1; //ARR TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1; //PSC TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0; TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure); TIM_OCInitTypeDef TIM_OCInitStructure; TIM_OCStructInit(&TIM_OCInitStructure); TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_Pulse = 0; //CCR TIM_OC1Init(TIM2, &TIM_OCInitStructure); TIM_OC2Init(TIM2, &TIM_OCInitStructure); TIM_Cmd(TIM2, ENABLE); } void PWM_SetCompare2(uint16_t Compare) { TIM_SetCompare2(TIM2, Compare); } void PWM_SetCompare1(uint16_t Compare) { TIM_SetCompare1(TIM2, Compare); }
pwm,h
#ifndef __PWM_H #define __PWM_H void PWM_Init(void); void PWM_SetCompare1(uint16_t Compare); void PWM_SetCompare2(uint16_t Compare); #endif
为了更加直观的使用,用Servo函数对pwm输出占空比与舵机旋转角度进行封装。
Servo,c
#include "stm32f10x.h" // Device header #include "PWM.h" void Servo_Init(void) { PWM_Init(); } void Servo_SetAngle2(float Angle2) { PWM_SetCompare2(Angle2 / 180 * 2000 + 500); } void Servo_SetAngle1(float Angle1) { PWM_SetCompare1(Angle1 / 180 * 2000 + 500); }
Servo,h
#ifndef __SERVO_H #define __SERVO_H void Servo_Init(void); void Servo_SetAngle1(float Angle1); void Servo_SetAngle2(float Angle2); #endif
主函数
#include "stm32f10x.h" // Device header #include "Delay.h" #include "OLED.h" #include "PWM.h" #include "Key.h" #include "Servo.h" uint8_t KeyNum; float Angle1,Angle2; int main(void) { Servo_Init(); Key_Init(); Serial_Init(); while (1) { if( KeyNum == 1 ) { Angle1+=30; if(Angle1>180) { Angle1 = 0; Delay_ms(50); } Servo_SetAngle1(Angle1); break; } if(KeyNum == 2 ) { Angle2+=30; if(Angle2>180) { Angle2 = 0; Delay_ms(50); } Servo_SetAngle2(Angle2); break; } } }
同时分享一位大佬的视频,我也是跟着他学习,一步一步总结的。
https://www.bilibili.com/video/BV1th411z7sn/?spm_id_from=333.1007.top_right_bar_window_custom_collection.content.click