stm32f103c8t6最小系统板控制舵机
时间: 2023-10-27 15:08:23 浏览: 191
要控制舵机,需要使用STM32的PWM输出功能。具体步骤如下:
1. 配置GPIO为PWM输出模式。
2. 配置TIM定时器为PWM模式,并设置频率和占空比。
3. 在程序中调用相应的函数,改变占空比即可控制舵机转动角度。
以下是一个简单的示例代码:
```c
#include "stm32f10x.h"
void PWM_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, 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; // 20ms
TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1; // 1MHz
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; // 1.5ms
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_Cmd(TIM2, ENABLE);
}
void SetServoAngle(uint16_t angle)
{
uint16_t pulse = 1000 + angle * 1000 / 180;
TIM_SetCompare1(TIM2, pulse);
}
int main(void)
{
PWM_Init();
while (1)
{
SetServoAngle(0); // 0 degree
Delay(1000);
SetServoAngle(90); // 90 degree
Delay(1000);
SetServoAngle(180); // 180 degree
Delay(1000);
}
}
```
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