stm32f103c8t6库函数Tim2输出4路pwm实现电机的转动

以下是stm32f103c8t6库函数Tim2输出4路pwm实现电机的转动的代码示例：

1. 初始化Tim2

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;

TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_Prescaler = 71;
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 = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC3Init(TIM2, &TIM_OCInitStructure);
TIM_OC4Init(TIM2, &TIM_OCInitStructure);

TIM_Cmd(TIM2, ENABLE);

2. 设置pwm占空比

TIM_SetCompare1(TIM2, duty_cycle_1);
TIM_SetCompare2(TIM2, duty_cycle_2);
TIM_SetCompare3(TIM2, duty_cycle_3);
TIM_SetCompare4(TIM2, duty_cycle_4);

3. 实现电机转动

//设置pwm占空比，控制电机速度
TIM_SetCompare1(TIM2, duty_cycle_1);
TIM_SetCompare2(TIM2, duty_cycle_2);
TIM_SetCompare3(TIM2, duty_cycle_3);
TIM_SetCompare4(TIM2, duty_cycle_4);

//控制电机转动方向
if (direction == 1) {
    GPIO_SetBits(GPIOA, GPIO_Pin_1);
    GPIO_ResetBits(GPIOA, GPIO_Pin_2);
    GPIO_SetBits(GPIOA, GPIO_Pin_3);
    GPIO_ResetBits(GPIOA, GPIO_Pin_4);
} else {
    GPIO_ResetBits(GPIOA, GPIO_Pin_1);
    GPIO_SetBits(GPIOA, GPIO_Pin_2);
    GPIO_ResetBits(GPIOA, GPIO_Pin_3);
    GPIO_SetBits(GPIOA, GPIO_Pin_4);
}

需要注意的是，这里的duty_cycle_1、duty_cycle_2、duty_cycle_3、duty_cycle_4代表pwm占空比，范围为0~65535。而direction代表电机转动方向，1为正转，0为反转。另外，需要在初始化时将对应的GPIO口设置为输出模式。