stm32 图像坐标控制舵机代码

以下是一个简单的示例代码，可以通过串口输入坐标值来控制舵机移动到对应位置。

#include "stm32f10x.h"

#define SERVO_MIN_PULSE 500 // 舵机最小脉冲宽度
#define SERVO_MAX_PULSE 2500 // 舵机最大脉冲宽度
#define SERVO_MIN_ANGLE 0 // 舵机最小角度
#define SERVO_MAX_ANGLE 180 // 舵机最大角度

void delay_us(uint32_t us)
{
    uint32_t ticks = us * (SystemCoreClock/1000000);
    while(ticks--);
}

void servo_set_pulse(uint16_t pulse)
{
    TIM2->CCR1 = pulse;
    delay_us(1000); // 等待1ms，让舵机转到指定角度
}

void servo_set_angle(uint16_t angle)
{
    uint16_t pulse = (angle - SERVO_MIN_ANGLE) * (SERVO_MAX_PULSE - SERVO_MIN_PULSE) / (SERVO_MAX_ANGLE - SERVO_MIN_ANGLE) + SERVO_MIN_PULSE;
    servo_set_pulse(pulse);
}

int main(void)
{
    USART_InitTypeDef USART_InitStructure;

    // 初始化 USART1
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
    USART_InitStructure.USART_BaudRate = 9600;
    USART_InitStructure.USART_WordLength = USART_WordLength_8b;
    USART_InitStructure.USART_StopBits = USART_StopBits_1;
    USART_InitStructure.USART_Parity = USART_Parity_No;
    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
    USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
    USART_Init(USART1, &USART_InitStructure);
    USART_Cmd(USART1, ENABLE);

    // 初始化 TIM2
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_TimeBaseStructure.TIM_Period = 20000;
    TIM_TimeBaseStructure.TIM_Prescaler = 72;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    TIM_OCInitTypeDef TIM_OCInitStructure;
    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_Cmd(TIM2, ENABLE);

    uint16_t x, y;
    while (1)
    {
        if (USART_GetFlagStatus(USART1, USART_FLAG_RXNE) == SET)
        {
            uint8_t cmd = USART_ReceiveData(USART1);
            if (cmd == 'x') // 接收 X 坐标
            {
                x = USART_ReceiveData(USART1);
            }
            else if (cmd == 'y') // 接收 Y 坐标
            {
                y = USART_ReceiveData(USART1);
                // 计算舵机角度
                uint16_t angle = (y * SERVO_MAX_ANGLE) / 240;
                servo_set_angle(angle);
            }
        }
    }
}

在此示例代码中，使用了 USART1 来接收坐标值，使用 TIM2 的 PWM 输出来控制舵机的转动，通过计算得出舵机的角度。在接收到 Y 坐标后，将 Y 坐标值转换为舵机角度，并通过 `servo_set_angle()` 函数设置舵机位置。

请注意，此示例代码仅供参考，实际应用中您需要根据具体的舵机型号和硬件环境进行相应的修改。