STM32F103C8T6——4个舵机

接线

SG9O电机

硬件接线：

红线 ： 3.3v/ 5v

黑 / 棕线 ： GND

黄线 ： 信号线

t = 0.5ms——————-舵机会转到 0 °
t = 1.0ms——————-舵机会转到 45°
t = 1.5ms——————-舵机会转到 90°
t = 2.0ms——————-舵机会转到 135°
t = 2.5ms——————-舵机会转到 180°

周期T

PWM周期为20ms = 0.02s = (7200*200)/72000000

PWM占空比

是指在一个周期内，信号处于高电平的时间占据整个信号周期的百分比.由于PWM周期为20ms，所以（以舵机会转动 45°为例），占空比就应该为1ms/20ms = 5%，所以TIM_SetCompare1的 TIMx 捕获比较 1 寄存器值就为200 * 5% = 10

单位： % (0%~100%)

void PWM_Init(void)
{
        GPIO_InitTypeDef GPIOInitStructure;
        TIM_TimeBaseInitTypeDef TIMInitStructure;
        TIM_OCInitTypeDef TIMOCInitStructure;
        
        //1.使能GPIO时钟、定时器时钟、复用时钟
        RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
        RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
        RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);

        //3.配置GPIO
        GPIOInitStructure.GPIO_Mode  = GPIO_Mode_AF_PP;
        GPIOInitStructure.GPIO_Pin   = GPIO_Pin_6 | GPIO_Pin_7;
        GPIOInitStructure.GPIO_Speed = GPIO_Speed_50MHz;
        
        GPIO_Init(GPIOA, &GPIOInitStructure);
    
        GPIOInitStructure.GPIO_Mode  = GPIO_Mode_AF_PP;
        GPIOInitStructure.GPIO_Pin   = GPIO_Pin_0 | GPIO_Pin_1;
        GPIOInitStructure.GPIO_Speed = GPIO_Speed_50MHz;
        
        GPIO_Init(GPIOB, &GPIOInitStructure);
        
        //4.配置定时器
        TIMInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
        TIMInitStructure.TIM_CounterMode   = TIM_CounterMode_Up;
        TIMInitStructure.TIM_Period        = 200-1;
        TIMInitStructure.TIM_Prescaler     = 7200-1;
        TIM_TimeBaseInit(TIM3, &TIMInitStructure);
        
        //5.配置PWM
        TIMOCInitStructure.TIM_OCMode      = TIM_OCMode_PWM1;
        TIMOCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
        TIMOCInitStructure.TIM_OCPolarity  = TIM_OCPolarity_High;
        
        TIM_OC1Init(TIM3, &TIMOCInitStructure);
        TIM_OC2Init(TIM3, &TIMOCInitStructure);
        TIM_OC3Init(TIM3, &TIMOCInitStructure);
        TIM_OC4Init(TIM3, &TIMOCInitStructure);
        
        TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
        TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
        TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
        TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
        
         TIM_ARRPreloadConfig(TIM3, ENABLE);
        TIM_Cmd(TIM3, ENABLE);
}

int main(void)
{
    
  
    SystemInit(); //配置系统时钟为72M   
    PWM_Init();
    while(1)
    {
        TIM_SetCompare1(TIM3, 5);    //0°
        TIM_SetCompare2(TIM3, 5);
        TIM_SetCompare3(TIM3, 5);
        TIM_SetCompare4(TIM3, 5);
    }