利用STM32标准库进行控制舵机的转动,任意角度
PWM 代码
#include "stm32f4xx.h"
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
// 使能GPIO时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB, ENABLE);
// 配置舵机连接的GPIO引脚
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1|GPIO_Pin_3; // 假设舵机1连接到GPIOA的0引脚,舵机2连接到GPIOA的1引脚
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; // 复用模式
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; // 推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; // 速度为100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; // 不使用上拉/下拉
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; // 假设舵机3连接到GPIOB的6引脚,舵机4连接到GPIOB的7引脚
GPIO_Init(GPIOB, &GPIO_InitStructure);
// 将引脚与定时器复用映射
GPIO_PinAFConfig(GPIOA, GPIO_PinSource0, GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource1, GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource3, GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM4);
}
void TIM_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
// 使能定时器时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM4, ENABLE);
// 定时器初始化
TIM_TimeBaseStructure.TIM_Period = 20000 - 1; // ARR定时器计数周期为20ms,对应50Hz的PWM频率
TIM_TimeBaseStructure.TIM_Prescaler = 84 - 1; // 时钟频率为84MHz,分频后为1MHz psc
TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
// PWM模式配置
TIM_OCInitStructure
.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
// 设置定时器通道
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC4Init(TIM2, &TIM_OCInitStructure);
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
// 使能定时器
TIM_Cmd(TIM2, ENABLE);
TIM_Cmd(TIM4, ENABLE);
}
void PWM_SetCompare1(uint16_t Compare)
{
TIM_SetCompare1(TIM4, Compare);
}
void PWM_SetCompare2(uint16_t Compare)
{
TIM_SetCompare2(TIM4, Compare);
}
角度换算
#include "stm32f4xx.h" // Device header
#include "PWM.h"
/**
* 函 数:舵机初始化
* 参 数:无
* 返 回 值:无
*/
/*void Servo_Init(void)
{
TIM2_PWM_Init(); //初始化舵机的底层PWM
}
*/
/**
* 函 数:舵机设置角度
* 参 数:Angle 要设置的舵机角度,范围:0~180
* 返 回 值:无
*/
void Servo_SetAngle(float Angle)
{
PWM_SetCompare1(Angle/180*2000+500); //设置占空比
//将角度线性变换,对应到舵机要求的占空比范围上
}
void Servo_SetAngle2(float Angle_2)
{
PWM_SetCompare2(Angle_2/180*2000+500); //设置占空比
//将角度线性变换,对应到舵机要求的占空比范围上
}
直接在main函数调用 Servo_SetAngle函数