100 lines
2.5 KiB
C
100 lines
2.5 KiB
C
#include "servo.h"
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#include "Delay.h"
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void Servo_Init(void)
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{
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //使能TIM2时钟
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //使能GPIOA时钟
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
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GPIO_InitStructure.GPIO_Pin =GPIO_Pin_4;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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//配置PA1，PA2为复用输出模式，输出速度为50MHZ
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
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GPIO_InitStructure.GPIO_Pin =GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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//开启TIM2内部时钟
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TIM_InternalClockConfig(TIM2);
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//配置TIM2
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TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
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TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1; //时钟分频
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TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; //计数方式向上计数
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TIM_TimeBaseInitStructure.TIM_Period = 100 - 1; //ARR 自动重装载值
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TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1; //PSC 预分频器
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TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0; //
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TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);
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//输出通道配置
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TIM_OCInitTypeDef TIM_OCInitStructure;
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TIM_OCStructInit(&TIM_OCInitStructure);
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TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;//配置PWM模式1
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TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;//有效极性为高电平
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TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
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TIM_OCInitStructure.TIM_Pulse = 0; //CCR
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TIM_OC1Init(TIM2, &TIM_OCInitStructure); //初始化通道1 PA0
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TIM_OC2Init(TIM2, &TIM_OCInitStructure); //初始化通道2 PA1
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TIM_OC3Init(TIM2, &TIM_OCInitStructure); //初始化通道3 PA2
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TIM_Cmd(TIM2, ENABLE); //使能定时器2
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}
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void Rotate(u8 a,u8 b,u8 c)
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{
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TIM_SetCompare1(TIM2,a);
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TIM_SetCompare2(TIM2,b);
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TIM_SetCompare3(TIM2,c);
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}
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//修改通道2比较值
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// TIM_SetCompare2(TIM2, Compare);
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//正转
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void Rotate_clockwise(void)
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{
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Rotate(10,0,0);
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delay_ms(10);
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Rotate(10,10,0);
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delay_ms(10);
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Rotate(0,10,0);
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delay_ms(10);
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Rotate(0,10,10);
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delay_ms(10);
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Rotate(0,0,10);
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delay_ms(10);
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Rotate(10,0,10);
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}
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//反转
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void Rotate_counterclockwise(void)
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{
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Rotate(0,10,0);
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delay_ms(10);
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Rotate(10,10,0);
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delay_ms(10);
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Rotate(10,0,0);
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delay_ms(10);
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Rotate(10,0,10);
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delay_ms(10);
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Rotate(0,0,10);
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delay_ms(10);
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Rotate(0,10,10);
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}
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//停止
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void Rotate_stop(void)
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{
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Rotate(0,0,0);
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}
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//刹车
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void Rotate_shache(void)
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{
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Rotate(3,0,0);
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} |