如何调节舵机的转速？

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不管是哪个单片机IDE，stm也好，arduino什么的也好，在不借助单片机平台的内置函数情况下（其实我也没找到keil5的），调节舵机转速其实是可以通过算法来实现的，先上代码

	double timestep = 0.009;
	double a0; double a1; double a2; double a3;double a4; double a5;
	double omegaf;double omegai; double acci; double accf;
	double tf = 0.8;
	double thetai=45; double thetaf=135;
	double theta0;double omega0;double acc0;
    double t=0; 
	int i = 0;

for ( t = 0; t <= tf; t +=timestep) { // goes from 0 degrees to 180 degrees 
      //a0 = 70;a1 = 0;a2 = 30 ;a3 = -10;
      thetai=58; thetaf=98;
      omegai = 35; omegaf = 125;
      acci = 20; accf = 40;
      a0 = thetai;
      a1 = omegai;
      a2 = acci/2;
      a3 = (20*thetaf-20*thetai-(8*omegaf+12*omegai)*tf-(3*acci-accf)*(pow(tf,2))) / (2*(pow(tf,3)));
      a4 = (30*thetai-30*thetaf+(14*omegaf+16*omegai)*tf+(3*acci-2*accf)*(pow(tf,2))) / (2*(pow(tf,4)));
      a5 = (12*thetaf - 12*thetai - (6*omegaf+6*omegai)*tf-(acci-accf)*(pow(tf,2))) / (2*(pow(tf,5)));
     theta0 = a0 +a1*t +a2*(pow(t,2))+ a3*(pow(t,3)) + a4*(pow(t,4)) + a5*(pow(t,5));
     omega0 = a1 + 2*a2*t + 3*a3*(pow(t,2)) + 4*a4*(pow(t,3)) + 5*a5*(pow(t,4));
     acc0 = 2*a2 + 6*a3*t + 12*a4*(pow(t,2)) + 20*a5*(pow(t,3));
		 //theta0 = (float)theta0;
     Servo_Set_Angle(theta0);            // tell servo to go to position in variable 'pos'
     delay_ms(15);                  // waits 15 ms for the servo to reach the position
  }
   for ( t = 0; t <= tf; t +=timestep) { // goes from 0 degrees to 180 degrees 
      //a0 = 70;a1 = 0;a2 = 30 ;a3 = -10;
      thetai=120; thetaf=60;
      omegai = 50; omegaf = 40;
      acci = 15; accf = 5;
      a0 = thetai;
      a1 = omegai;
      a2 = acci/2;
      a3 = (20*thetaf-20*thetai-(8*omegaf+12*omegai)*tf-(3*acci-accf)*(pow(tf,2))) / (2*(pow(tf,3)));
      a4 = (30*thetai-30*thetaf+(14*omegaf+16*omegai)*tf+(3*acci-2*accf)*(pow(tf,2))) / (2*(pow(tf,4)));
      a5 = (12*thetaf - 12*thetai - (6*omegaf+6*omegai)*tf-(acci-accf)*(pow(tf,2))) / (2*(pow(tf,5)));
     theta0 = a0 +a1*t +a2*(pow(t,2))+ a3*(pow(t,3)) + a4*(pow(t,4)) + a5*(pow(t,5));
     omega0 = a1 + 2*a2*t + 3*a3*(pow(t,2)) + 4*a4*(pow(t,3)) + 5*a5*(pow(t,4));
     acc0 = 2*a2 + 6*a3*t + 12*a4*(pow(t,2)) + 20*a5*(pow(t,3));
		 //theta0 = (float)theta0;
     Servo_Set_Angle(theta0);               // tell servo to go to position in variable 'pos'
    //Serial.print(theta0);
    //Serial.println(t);
     delay_ms(15);                       // waits 15 ms for the servo to reach the position
	}	 

这个代码我是在keil5中运行stm32f103的速度调节代码，实际运行出来的效果如下图所示

可以看出舵机从48°转到108°是一条曲线关系，你可以通过修改Omega修改角速度，acc修改加速度，值得注意的是Servo_set_angle是指定转到的角度，其实这个算法的原理是把转动过程拆分成84步，相当于把转动过程离散化，一个一个片段拼接起来就能调节转速了，更顺滑，降低刚性碰撞，柔性碰撞。