stm32控制舵机摆动的代码

可以通过STM32的PWM输出控制舵机的摆动。具体步骤如下：

1. 初始化TIM定时器，设置PWM输出模式和频率。
2. 设置TIM的占空比，确定舵机的位置。
3. 不断修改TIM的占空比，实现舵机的摆动。

以下是示例代码：

#include "stm32f4xx.h"

void delay(uint32_t time)
{
    while(time--);
}

int main(void)
{
    // 初始化GPIO和TIM
    GPIO_InitTypeDef GPIO_InitStruct;
    TIM_TimeBaseInitTypeDef TIM_InitStruct;
    TIM_OCInitTypeDef TIM_OCInitStruct;

    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    GPIO_PinAFConfig(GPIOA, GPIO_PinSource5, GPIO_AF_TIM2);

    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStruct.GPIO_Pin = GPIO_Pin_5;
    GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_Init(GPIOA, &GPIO_InitStruct);

    TIM_InitStruct.TIM_ClockDivision = 0;
    TIM_InitStruct.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_InitStruct.TIM_Period = 20000 - 1;
    TIM_InitStruct.TIM_Prescaler = 84 - 1;
    TIM_TimeBaseInit(TIM2, &TIM_InitStruct);

    TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStruct.TIM_OCIdleState = TIM_OCIdleState_Set;
    TIM_OCInitStruct.TIM_OCNIdleState = TIM_OCNIdleState_Set;
    TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStruct.TIM_OutputNState = TIM_OutputNState_Disable;
    TIM_OCInitStruct.TIM_Pulse = 1000;
    TIM_OC1Init(TIM2, &TIM_OCInitStruct);

    // 控制舵机摆动
    while(1)
    {
        for(int i=1000;i<=2000;i+=10)
        {
            TIM_SetCompare1(TIM2,i);
            delay(1000);
        }
        for(int i=2000;i>=1000;i-=10)
        {
            TIM_SetCompare1(TIM2,i);
            delay(1000);
        }
    }
}