#include "servo.h"
#include "Delay.h"

void Servo_Init(void)
{
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);   //使能TIM2时钟
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);  //使能GPIOA时钟
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
	GPIO_InitStructure.GPIO_Pin =GPIO_Pin_4;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	
	//配置PA1，PA2为复用输出模式，输出速度为50MHZ
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Pin =GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	//开启TIM2内部时钟
	TIM_InternalClockConfig(TIM2);
	//配置TIM2
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;  //时钟分频
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; //计数方式向上计数
	TIM_TimeBaseInitStructure.TIM_Period = 100 - 1;		//ARR 自动重装载值
	TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1;		//PSC 预分频器 
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;    //
	TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);
	//输出通道配置
	TIM_OCInitTypeDef TIM_OCInitStructure;
	TIM_OCStructInit(&TIM_OCInitStructure);
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;//配置PWM模式1
	TIM_OCInitStructure.TIM_OCPolarity =  TIM_OCPolarity_High;//有效极性为高电平
	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
	TIM_OCInitStructure.TIM_Pulse = 0;		//CCR
	TIM_OC1Init(TIM2, &TIM_OCInitStructure);  //初始化通道1  PA0 
	TIM_OC2Init(TIM2, &TIM_OCInitStructure);  //初始化通道2  PA1 
	TIM_OC3Init(TIM2, &TIM_OCInitStructure);  //初始化通道3  PA2
	
	TIM_Cmd(TIM2, ENABLE);  //使能定时器2
	
	
}

void Rotate(u8 a,u8 b,u8 c)
{
	TIM_SetCompare1(TIM2,a);
	TIM_SetCompare2(TIM2,b);
	TIM_SetCompare3(TIM2,c);
}
//修改通道2比较值
//	TIM_SetCompare2(TIM2, Compare);
//正转
void Rotate_clockwise(void)
{
	Rotate(10,0,0);
	delay_ms(10);
	Rotate(10,10,0);
	delay_ms(10);
	
	Rotate(0,10,0);
	delay_ms(10);
	Rotate(0,10,10);
	delay_ms(10);
	
	Rotate(0,0,10);
	delay_ms(10);
	Rotate(10,0,10);
}
//反转
void Rotate_counterclockwise(void)
{
	Rotate(0,10,0);
	delay_ms(10);
	
	Rotate(10,10,0);
	delay_ms(10);
	
	Rotate(10,0,0);
	delay_ms(10);
	Rotate(10,0,10);
	delay_ms(10);
	
	Rotate(0,0,10);
	delay_ms(10);
	Rotate(0,10,10);
}
//停止
void Rotate_stop(void)
{
	Rotate(0,0,0);
}
//刹车
void Rotate_shache(void)
{
	Rotate(3,0,0);
}