STM32F104舵机控制代码
时间: 2023-11-12 15:44:58 浏览: 39
以下是一个简单的舵机控制代码,使用STM32F104单片机和定时器来控制舵机:
```c
#include "stm32f10x.h"
void Delay(__IO uint32_t nCount)
{
while(nCount--)
{
}
}
int main(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Period = 20000 - 1; // 定时器周期为20ms
TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1; // 定时器时钟频率为72MHz
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 = 1500; // 舵机中心位置的脉冲宽度为1.5ms
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_Cmd(TIM2, ENABLE);
while (1)
{
TIM_SetCompare1(TIM2, 1000); // 舵机转到最左边,脉冲宽度为1ms
Delay(1000000);
TIM_SetCompare1(TIM2, 1500); // 舵机回到中心位置,脉冲宽度为1.5ms
Delay(1000000);
TIM_SetCompare1(TIM2, 2000); // 舵机转到最右边,脉冲宽度为2ms
Delay(1000000);
}
}
```
该代码使用了定时器2来输出PWM信号,控制舵机的旋转角度。其中,舵机的中心位置的脉冲宽度为1.5ms,舵机最左边的脉冲宽度为1ms,舵机最右边的脉冲宽度为2ms。在代码中,使用了`TIM_SetCompare1()`函数来设置PWM输出的脉冲宽度,从而控制舵机的旋转角度。