给我一段基于stm32的机械臂抓取的代码

好的，以下是一段基于STM32的机械臂抓取的代码：

#include <stm32f10x.h>

#define SERVO_PIN GPIO_Pin_0

void servo_set_angle(int angle);

int main()
{
    // 初始化GPIO
    GPIO_InitTypeDef GPIO_InitStructure;
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
    GPIO_InitStructure.GPIO_Pin = SERVO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    // 将舵机角度设为90度
    servo_set_angle(90);

    // 等待一段时间
    uint32_t delay = 1000000;
    while (delay--);

    // 将舵机角度设为0度
    servo_set_angle(0);

    return 0;
}

void servo_set_angle(int angle)
{
    // 计算占空比
    uint32_t pulse_width = 500 + (angle * 10); // SG90舵机PWM控制范围为500~2500us
    uint32_t duty_cycle = pulse_width * 72;

    // 设置PWM输出
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
    TIM_OCInitTypeDef TIM_OCInitStruct;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
    TIM_TimeBaseInitStruct.TIM_Period = 20000; // PWM周期为20ms
    TIM_TimeBaseInitStruct.TIM_Prescaler = 720; // PWM时钟频率为72MHz / 720 = 100kHz
    TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStruct);

    TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStruct.TIM_Pulse = duty_cycle;
    TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC1Init(TIM3, &TIM_OCInitStruct);

    TIM_Cmd(TIM3, ENABLE);
}

这段代码可以使STM32通过PWM控制SG90舵机的角度，实现机械臂抓取功能。请注意调整舵机控制范围及PWM参数以适配您的具体机械臂控制应用。