STM32 控制舵机

清疚 2022-02-18 12:19 259阅读 0赞

平台：stm32F429 +HAL 库+数字舵机

控制舵机体现在控制舵机的角度，通常舵机角度是0-180°。

如果设置为高电平有效，那么当定时器比较匹配之后，输出口输出高电平，否则就反一下。

#include "sys.h"
    #include "delay.h"
    #include "usart.h"
    #include "led.h"
    #include "timer.h"
    
    int main(void)
    {
        u8 dir=1;
        u16 led0pwmval=0;  
        HAL_Init();                     
        Stm32_Clock_Init(360,25,2,8);   //时钟180MHZ
        delay_init(180);                
        uart_init(115200);           
        LED_Init();                  
        TIM3_PWM_Init(20000-1,90-1);      //PWM_Init  自动重装数为2000，自动重装值设置为20000，既 
                                          //该定时器每计数20000次触发一次中断，预分频为1MHz，则 
                                          //周期为20ms
        u16 delay_time=300;	
    	  while(1)                        
        {
    		TIM_SetTIM3Compare4(500);	        //0°
    		delay_ms(1000);
    	  TIM_SetTIM3Compare4(1000);	      //45°
    		delay_ms(1000);
    	  TIM_SetTIM3Compare4(1500);	      //90°
    		delay_ms(1000); 
    		TIM_SetTIM3Compare4(2000);	      //135°
    		delay_ms(1000);
    		TIM_SetTIM3Compare4(2500);	      //180°
    		delay_ms(1000);
        }
    }

参考资料：

[https://blog.csdn.net/qq\_40499719/article/details/81267895][https_blog.csdn.net_qq_40499719_article_details_81267895]

[https://blog.csdn.net/menshu1892/article/details/76548071][https_blog.csdn.net_menshu1892_article_details_76548071]

[https://blog.csdn.net/weixin\_37127273/article/details/80492288][https_blog.csdn.net_weixin_37127273_article_details_80492288]

[https_blog.csdn.net_qq_40499719_article_details_81267895]: https://blog.csdn.net/qq_40499719/article/details/81267895
[https_blog.csdn.net_menshu1892_article_details_76548071]: https://blog.csdn.net/menshu1892/article/details/76548071
[https_blog.csdn.net_weixin_37127273_article_details_80492288]: https://blog.csdn.net/weixin_37127273/article/details/80492288