基于stm32f407的云台舵机KEY1控制水平转动、KEY2控制上下转动
时间: 2023-10-05 19:11:37 浏览: 54
以下是一个基于STM32F407的云台舵机控制代码示例,其中使用TIM2和TIM3定时器控制两个舵机的PWM输出,通过读取ADC的值来获取控制信号(这里假设使用PA0和PA1作为ADC输入):
```c
#include "stm32f4xx.h"
#define PWM_PERIOD 20000 // PWM周期,单位为us
#define PWM_MIN 1000 // PWM最小值,单位为us
#define PWM_MAX 2000 // PWM最大值,单位为us
int main(void)
{
// 初始化GPIO
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// 初始化TIM2
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = PWM_PERIOD - 1;
TIM_TimeBaseStructure.TIM_Prescaler = SystemCoreClock / 1000000 - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
// 初始化TIM3
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = PWM_PERIOD - 1;
TIM_TimeBaseStructure.TIM_Prescaler = SystemCoreClock / 1000000 - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
// 初始化PWM输出
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_Cmd(TIM2, ENABLE);
TIM_Cmd(TIM3, ENABLE);
// 初始化ADC
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
ADC_InitTypeDef ADC_InitStructure;
ADC_CommonInitTypeDef ADC_CommonInitStructure;
ADC_DeInit();
ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInit(&ADC_CommonInitStructure);
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = DISABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = 1;
ADC_Init(ADC1, &ADC_InitStructure);
ADC_Cmd(ADC1, ENABLE);
ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_15Cycles);
while (1)
{
// 获取ADC的值
int adc_value1 = ADC_GetConversionValue(ADC1);
int adc_value2 = ADC_GetConversionValue(ADC1);
// 将ADC的值映射到PWM输出范围
int pwm_value1 = (adc_value1 * (PWM_MAX - PWM_MIN) / 4095) + PWM_MIN;
int pwm_value2 = (adc_value2 * (PWM_MAX - PWM_MIN) / 4095) + PWM_MIN;
// 将PWM值输出到TIM2和TIM3
TIM_SetCompare1(TIM2, pwm_value1);
TIM_SetCompare2(TIM3, pwm_value2);
}
}
```
以上代码演示了如何使用STM32F407控制两个云台舵机的水平和上下转动,通过读取ADC的值来获取控制信号,并将信号映射为PWM输出。需要注意的是,这里没有包含舵机的驱动电路,需要根据具体的舵机和电路设计来进行调整。
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