stm32f407机械臂抓取代码

机械臂的抓取操作需要配合相应的硬件设备，例如舵机、传感器等。在此前提下，您可以参考以下代码实现机械臂的抓取功能：

#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_tim.h"

#define SERVO1_PIN      GPIO_Pin_6
#define SERVO1_PORT     GPIOA
#define SERVO2_PIN      GPIO_Pin_7
#define SERVO2_PORT     GPIOA

void Delay(__IO uint32_t nCount) //简单的延时函数
{
  while(nCount--)
  {
  }
}

void Servo_SetAngle(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, float angle)
{
    TIM_OCInitTypeDef  TIM_OCInitStructure;
    uint16_t CCR1_Val = (angle / 180.0) * 2000 + 500; //根据角度计算占空比

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = CCR1_Val;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC1Init(TIM3, &TIM_OCInitStructure);

    GPIO_SetBits(GPIOx, GPIO_Pin);
    TIM_Cmd(TIM3, ENABLE);
}

int main(void)
{
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = SERVO1_PIN | SERVO2_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_PinAFConfig(GPIOA, GPIO_PinSource6, GPIO_AF_TIM3);
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource7, GPIO_AF_TIM3);

    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_TimeBaseStructure.TIM_Period = 20000 - 1;
    TIM_TimeBaseStructure.TIM_Prescaler = 84 - 1;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

    TIM_OCInitTypeDef  TIM_OCInitStructure;
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 1500;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

    TIM_OC1Init(TIM3, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
    TIM_ARRPreloadConfig(TIM3, ENABLE);
    TIM_Cmd(TIM3, ENABLE);

    while (1)
    {
        Servo_SetAngle(SERVO1_PORT, SERVO1_PIN, 90); //控制舵机1转动到90度
        Servo_SetAngle(SERVO2_PORT, SERVO2_PIN, 45); //控制舵机2转动到45度
        Delay(0xFFFFF); //延时
    }
}

这段代码实现了控制两个舵机分别转动到指定角度的功能，您可以根据自己的硬件配置和需求进行相应的修改。