MG90S舵机图片
接线图![]()
输出PWM波要求
输入舵机的周期为 20ms ，因此PWM频率要设置为50Hz。
PWM占空比 | 舵机状态 |
0% | 停止 |
2.5% | 顺时钟快转 |
5% | 顺时钟慢转 |
7.5% | 停止 |
10% | 逆时针慢转 |
12.5% | 逆时针快转 |
100% | 停止 |
PWM参数计算公式
代码示例
PWM.h
#include "stm32f10x.h" // Device header #ifndef __PWM_H #define __PWM_H void PWM_Init(void); void PWM_SetCompare1(uint16_t Compare); #endifPWM.c
#include "stm32f10x.h" // Device header void PWM_Init(void){ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE); GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA,&GPIO_InitStructure); TIM_InternalClockConfig(TIM2); TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct; TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInitStruct.TIM_Period = 20000-1; //自动重装器，ARR TIM_TimeBaseInitStruct.TIM_Prescaler = 72-1; //预分频器，PSC TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0; TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStruct); TIM_OCInitTypeDef TIM_OCInitStruct; TIM_OCStructInit(&TIM_OCInitStruct); TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitStruct.TIM_Pulse = 0; //CCR TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable; TIM_OC1Init(TIM2,&TIM_OCInitStruct); TIM_Cmd(TIM2,ENABLE); } void PWM_SetCompare1(uint16_t Compare){ TIM_SetCompare1(TIM2,Compare); }Key.h
#include "stm32f10x.h" // Device header #ifndef __LED_H #define __LED_H void LED_Switch(uint8_t Temp); void LED_Init(void); #endifKey.c
#include "stm32f10x.h" // Device header #include "Delay.h" uint16_t KeyState = 0; void Key_Init(void){ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE); GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //上拉输入 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB,&GPIO_InitStructure); } uint8_t Key_GetState(void){ if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_1) == 1){ Delay_ms(20);//消抖 while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_1) == 1); Delay_ms(20); KeyState += 1; } if(KeyState > 40){ KeyState = 0; } return KeyState; }main.c
#include "stm32f10x.h" // Device header #include "Delay.h" #include "OLED.h" #include "Key.h" #include "LED.h" #include "Encoder.h" #include "PWM.h" int main(void){ PWM_Init(); Key_Init(); OLED_Init(); uint16_t Key_State; while(1){ Key_State = Key_GetState(); PWM_SetCompare1(Key_State * 500); OLED_Printf(0,0,OLED_8X16,"%d",Key_State); OLED_Update(); } }代码现象
按键按一下，屏幕上显示1，设置CCR为500，占空比为2.5% ，舵机顺时针快转
按键按第二下，屏幕显示2，设置CCR为1000，占空比为5%，舵机顺时针慢转
