帮我写 STM32 标准库 使用定时器4 PB9控制270度舵机 PB6控制180度舵机的代码

好的，以下是使用定时器4控制舵机的代码，注意需要先初始化定时器4和GPIOB的相应引脚：

#include "stm32f10x.h"

void TIM4_Configuration(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;
    
    /* 使能定时器4时钟 */
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
    
    /* 定时器基本配置 */
    TIM_TimeBaseStructure.TIM_Period = 20000;  // 每个PWM周期为20ms
    TIM_TimeBaseStructure.TIM_Prescaler = 7200 - 1;  // 定时器预分频
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
    
    /* PWM模式配置 */
    TIM_OCStructInit(&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;
    
    /* PWM输出通道1配置 */
    TIM_OC1Init(TIM4, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
    
    /* PWM输出通道3配置 */
    TIM_OC3Init(TIM4, &TIM_OCInitStructure);
    TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
    
    /* 使能定时器4 */
    TIM_Cmd(TIM4, ENABLE);
}

void Servo_Control(uint16_t angle1, uint16_t angle2)
{
    uint16_t ccr1 = 1000 + (angle1 * 1000 / 180);  // 将角度转换为对应的PWM占空比
    uint16_t ccr3 = 1000 + (angle2 * 1000 / 270);
    
    /* 设置PWM输出占空比 */
    TIM_SetCompare1(TIM4, ccr1);
    TIM_SetCompare3(TIM4, ccr3);
}

int main(void)
{
    /* 初始化定时器4和GPIOB的相应引脚 */
    // ...
    
    TIM4_Configuration();
    
    while(1)
    {
        Servo_Control(0, 0);  // 控制舵机1和舵机2的角度
        delay_ms(1000);  // 延迟1秒
        Servo_Control(90, 135);
        delay_ms(1000);
        Servo_Control(180, 270);
        delay_ms(1000);
        Servo_Control(90, 135);
        delay_ms(1000);
    }
}

其中，`Servo_Control()`函数用于控制舵机1和舵机2的角度，输入参数为舵机1和舵机2的角度值（范围为0-180度和0-270度）。`delay_ms()`函数为延迟函数，可根据自己的需要实现。