hal库pid算法控制舵机角度的代码

下面是使用HAL库的PID算法控制舵机角度的示例代码，仅供参考：

#include "stm32f4xx_hal.h"

#define SERVO_PWM_TIM TIM3
#define SERVO_PWM_CHANNEL TIM_CHANNEL_1

#define SERVO_MAX_ANGLE 180.0f
#define SERVO_MIN_ANGLE 0.0f
#define SERVO_MAX_DUTY_CYCLE 2000.0f
#define SERVO_MIN_DUTY_CYCLE 1000.0f

#define PID_KP 1.0f
#define PID_KI 0.01f
#define PID_KD 0.001f

float servo_angle = 0.0f;
float servo_setpoint = 90.0f;
float servo_error = 0.0f;
float servo_last_error = 0.0f;
float servo_integral = 0.0f;
float servo_derivative = 0.0f;
float servo_pid_output = 0.0f;
float servo_duty_cycle = 0.0f;

TIM_HandleTypeDef htim_servo_pwm;

void MX_TIM3_Init(void)
{
  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_OC_InitTypeDef sConfigOC;

  htim_servo_pwm.Instance = SERVO_PWM_TIM;
  htim_servo_pwm.Init.Prescaler = 0;
  htim_servo_pwm.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim_servo_pwm.Init.Period = 20000;
  htim_servo_pwm.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  HAL_TIM_PWM_Init(&htim_servo_pwm);

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  HAL_TIMEx_MasterConfigSynchronization(&htim_servo_pwm, &sMasterConfig);

  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 1500;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  HAL_TIM_PWM_ConfigChannel(&htim_servo_pwm, &sConfigOC, SERVO_PWM_CHANNEL);

  HAL_TIM_PWM_Start(&htim_servo_pwm, SERVO_PWM_CHANNEL);
}

void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
{
  if(htim == &htim_servo_pwm)
  {
    __HAL_TIM_SET_COMPARE(&htim_servo_pwm, SERVO_PWM_CHANNEL, servo_duty_cycle);
  }
}

float pid_controller(float setpoint, float input_value)
{
  servo_error = setpoint - input_value;
  servo_integral += servo_error;
  servo_derivative = servo_error - servo_last_error;

  servo_pid_output = PID_KP * servo_error + PID_KI * servo_integral + PID_KD * servo_derivative;

  if(servo_pid_output > SERVO_MAX_DUTY_CYCLE)
  {
    servo_pid_output = SERVO_MAX_DUTY_CYCLE;
  }
  else if(servo_pid_output < SERVO_MIN_DUTY_CYCLE)
  {
    servo_pid_output = SERVO_MIN_DUTY_CYCLE;
  }

  servo_last_error = servo_error;

  return servo_pid_output;
}

void set_servo_angle(float angle)
{
  if(angle > SERVO_MAX_ANGLE)
  {
    angle = SERVO_MAX_ANGLE;
  }
  else if(angle < SERVO_MIN_ANGLE)
  {
    angle = SERVO_MIN_ANGLE;
  }

  servo_duty_cycle = ((angle - SERVO_MIN_ANGLE) / (SERVO_MAX_ANGLE - SERVO_MIN_ANGLE)) * (SERVO_MAX_DUTY_CYCLE - SERVO_MIN_DUTY_CYCLE) + SERVO_MIN_DUTY_CYCLE;
}

int main(void)
{
  HAL_Init();

  MX_TIM3_Init();

  while (1)
  {
    servo_angle = /* 读取舵机当前角度 */;
    servo_setpoint = /* 读取目标角度 */;
    set_servo_angle(pid_controller(servo_setpoint, servo_angle));
  }
}

需要注意的是，这是一个简单的示例代码，实际使用时需要根据具体的舵机型号和控制要求进行适当调整。