旋转编码器控制舵机同步运动

1、旋转编码器介绍

旋转编码器：用来测量位置、速度或旋转方向的装置，当其旋转轴旋转时，其输出端可以输出与旋转速度和方向对应的方波信号，读取方波信号的频率和相位信息即可得知旋转轴的速度和方向

2、舵机介绍

本项目使用最常见的SG90舵机

舵机是一种根据输入PWM信号占空比来控制输出角度的装置

输入PWM信号要求：周期为20ms，高电平宽度为0.5ms~2.5ms

该舵机可以实现0~180°转动 ，且转动角度与高电平宽度成线性关系

故我们若把上述图片中-90°角看为0°角，可以得到高电平宽度与角度之间的关系是

                                        Angle = （高电平宽度 - 0.5）* 90

3、STM32F103C8T6内部资源分配及接线

旋转编码器：A相接PA6，B相接PA7，使用定时器3的编码器接口（通道1和通道2）

舵机：接PA0，使用定时器2的通道1

OLED屏：SCK—PB8，SDA—PB9

4、代码展示(完整代码可在主页资源处下载)

Encoder.c

#include "stm32f10x.h"                  // Device header


void Encoder_Init(void)
{
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	
	
	GPIO_InitTypeDef GPIO_InitStructure;
 	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;  
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
 	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = 65536-1;       //ARR
	TIM_TimeBaseInitStructure.TIM_Prescaler = 1-1;     //PSC
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStructure);

	TIM_ICInitTypeDef TIM_ICInitStructure;
	TIM_ICStructInit(&TIM_ICInitStructure);
	TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
	TIM_ICInitStructure.TIM_ICFilter = 0xF;
	TIM_ICInit(TIM3,&TIM_ICInitStructure);
	TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
	TIM_ICInitStructure.TIM_ICFilter = 0xF;
	TIM_ICInit(TIM3,&TIM_ICInitStructure);

	TIM_EncoderInterfaceConfig(TIM3,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);

	TIM_Cmd(TIM3,ENABLE);
}

int16_t Encoder_Get(void)
{
	return TIM_GetCounter(TIM3);
}

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_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_OC2Init(TIM2,&TIM_OCInitStructure);
	
	TIM_Cmd(TIM2,ENABLE);
}

void PWM_SetCompare2(uint16_t Compare)
{
	TIM_SetCompare2(TIM2,Compare);
}

Servo.c

#include "stm32f10x.h"                  // Device header
#include "PWM.h"

void Servo_Init(void)
{
	PWM_Init();
}

void Servo_SetAngle(uint16_t Angle)
{
	PWM_SetCompare2(2000 - 100 / 9 * Angle);
}