舵机驱动程序不对,舵机只往一个方向转,而且不能控制角度,调了好几天了,原子大神帮我看看行吗
[mw_shl_code=c,true]/*
************???ú???????ò
*************????PB-0
*/
#include "bsp_duo.h"
void duo_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //?????3??
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOB |RCC_APB2Periph_AFIO, ENABLE); //??GPIO???AFIO????????
GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE); //Timer3????? TIM3_CH2->
B5
//????????????,??TIM3 CH2?PWM???? GPIOB.5 GPIOB.4
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5|GPIO_Pin_0; //TIM_CH2|TIM_CH1
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //??????
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);//???GPIO
//???TIM3
TIM_TimeBaseStructure.TIM_Period = 19999; //???????????????????????????
TIM_TimeBaseStructure.TIM_Prescaler =71; //??????TIMx???????????
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //??????:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM??????
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //??TIM_TimeBaseInitStruct?????????TIMx???????
//???TIM3 Channel2 PWM??
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //???????:TIM????????2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //??????
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //????:TIM???????
TIM_OC2Init(TIM3, &TIM_OCInitStructure); //??T??????????TIM3 OC2
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); //??TIM3?CCR2????????
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_Cmd(TIM3, ENABLE); //??TIM3
}
void SetJointAngle(float angle)
{
//angle=angle+90.0;
// angle=(u16)(50.0*angle/9.0+249.0);
//angle=(u16)(4.175*angle+409.25);
angle=(u16)(20000-(500+angle*7.8125));
TIM_SetCompare3(TIM3,angle);
}[/mw_shl_code]
主函数为
[mw_shl_code=c,true]int main(void)
{
SystemInit();
Key_GPIO_Config(); //???????¤??
duo_GPIO_Config();
Delay_ms(10);
while(1)
{
SetJointAngle(10);
Delay_ms(30);
SetJointAngle(20);
Delay_ms(30);
SetJointAngle(200);
Delay_ms(30);
}
}[/mw_shl_code]
一周热门 更多>