请构造一段代码对STM32单片机的舵机进行调速
时间: 2024-06-09 16:07:54 浏览: 14
以下是一段对STM32单片机的PWM输出进行调速的代码,可以控制舵机的转速:
```
#include "stm32f10x.h"
#define PWM_PERIOD 20000 // PWM周期为20ms
#define PWM_PRESCALER 71 // PWM时钟预分频为72
void PWM_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Period = PWM_PERIOD;
TIM_TimeBaseStructure.TIM_Prescaler = PWM_PRESCALER;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = PWM_PERIOD / 2; // 初始占空比为50%
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_Cmd(TIM3, ENABLE);
}
int main(void)
{
PWM_Configuration();
while (1)
{
int speed; // 速度值,范围为0~100
scanf("%d", &speed);
TIM_SetCompare1(TIM3, (PWM_PERIOD / 100) * speed); // 根据速度值调整占空比
}
}
```
该代码使用TIM3通道1输出PWM信号,控制GPIOA的第6个引脚输出PWM波形,从而控制舵机的转速。在主循环中,通过scanf函数读入速度值,再根据速度值调整占空比,从而控制转速。