STM32按键控制PWM舵机机械臂完成固定动作基于库函数C++

好的，这是一个关于STM32按键控制PWM舵机机械臂完成固定动作的C++代码示例，使用了STM32的库函数来实现：

#include "stm32f10x.h"

#define SERVO_PIN    GPIO_Pin_0
#define SERVO_PORT   GPIOA
#define SERVO_RCC    RCC_APB2Periph_GPIOA

#define KEY_PIN      GPIO_Pin_1
#define KEY_PORT     GPIOA
#define KEY_RCC      RCC_APB2Periph_GPIOA

#define MAX_ANGLE    180
#define MIN_ANGLE    0
#define ANGLE_STEP   5

uint16_t pwm_value = 0;

void GPIO_Configuration(void);
void TIM_Configuration(void);
void delay_ms(uint32_t nTime);

int main(void) {
  GPIO_Configuration();
  TIM_Configuration();

  while (1) {
    if (GPIO_ReadInputDataBit(KEY_PORT, KEY_PIN) == Bit_RESET) {
      pwm_value = (pwm_value + ANGLE_STEP) % (MAX_ANGLE + 1);
      TIM_SetCompare1(TIM2, pwm_value);
      delay_ms(500);
    }
  }
}

void GPIO_Configuration(void) {
  GPIO_InitTypeDef GPIO_InitStructure;

  RCC_APB2PeriphClockCmd(SERVO_RCC, ENABLE);
  RCC_APB2PeriphClockCmd(KEY_RCC, ENABLE);

  GPIO_InitStructure.GPIO_Pin = SERVO_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(SERVO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = KEY_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(KEY_PORT, &GPIO_InitStructure);
}

void TIM_Configuration(void) {
  TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
  TIM_OCInitTypeDef TIM_OCInitStructure;

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

  TIM_TimeBaseStructure.TIM_Period = 20000 - 1;
  TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

  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;
  TIM_OC1Init(TIM2, &TIM_OCInitStructure);

  TIM_Cmd(TIM2, ENABLE);
}

void delay_ms(uint32_t nTime) {
  uint32_t TimingDelay = nTime;
  while (TimingDelay != 0) {
    TimingDelay--;
  }
}

这段代码实现了一个按键控制PWM舵机机械臂完成固定动作的功能。按下按键后，舵机会按照一定的步进角度逐渐转动到最大角度，然后再回到最小角度，如此反复。你可以根据具体需求修改代码中的参数。