stm32f103rct6舵机控制
时间: 2023-07-24 15:44:06 浏览: 56
要控制舵机,你需要使用STM32F103的PWM输出,它有多个通道可用。以下是一个简单的示例代码,演示如何使用一个通道控制一个舵机:
```c
#include <stm32f10x.h>
#define SERVO_PWM_PIN GPIO_Pin_3
#define SERVO_PWM_PORT GPIOB
#define SERVO_PWM_RCC RCC_APB2Periph_GPIOB
#define SERVO_PWM_TIMER TIM2
#define SERVO_PWM_TIMER_RCC RCC_APB1Periph_TIM2
#define SERVO_MIN_ANGLE 0
#define SERVO_MAX_ANGLE 180
#define SERVO_MIN_PULSE_WIDTH 500
#define SERVO_MAX_PULSE_WIDTH 2500
#define SERVO_PERIOD 20000
void Servo_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(SERVO_PWM_RCC, ENABLE);
GPIO_InitStructure.GPIO_Pin = SERVO_PWM_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(SERVO_PWM_PORT, &GPIO_InitStructure);
RCC_APB1PeriphClockCmd(SERVO_PWM_TIMER_RCC, ENABLE);
TIM_TimeBaseStructure.TIM_Period = SERVO_PERIOD - 1;
TIM_TimeBaseStructure.TIM_Prescaler = SystemCoreClock / 2000000 - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(SERVO_PWM_TIMER, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = SERVO_MIN_PULSE_WIDTH;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(SERVO_PWM_TIMER, &TIM_OCInitStructure);
TIM_Cmd(SERVO_PWM_TIMER, ENABLE);
}
void Servo_SetAngle(uint8_t angle)
{
uint32_t pulse_width = SERVO_MIN_PULSE_WIDTH + (SERVO_MAX_PULSE_WIDTH - SERVO_MIN_PULSE_WIDTH) * angle / (SERVO_MAX_ANGLE - SERVO_MIN_ANGLE);
TIM_SetCompare1(SERVO_PWM_TIMER, pulse_width);
}
```
在这个示例中,我们使用了TIM2的通道1来控制舵机。在Servo_Init()函数中,我们初始化了GPIO和PWM定时器,以及设置了PWM输出的占空比和周期。在Servo_SetAngle()函数中,我们将角度转换为PWM脉宽,并将其设置为TIM2通道1的占空比。你可以在自己的代码中调用Servo_SetAngle()函数来设置舵机的角度。