尼玛啊，很久前我买了6个舵机啊，辉盛的MG995啊。。。。自己想做个机械手玩，六自由度的。
组装完成之后开始写程序，那时候还是用51，然后就改成用MINI STM32，两个通用，产生6路PWM，
舵机频率固定50HZ  ，靠占空比控制。。（这么说来STM32F1还可以控制30多路耶。）
还专门买了一个5V10A的电源。
单个舵机都没问题的，上了机架之后就肘关节动不了了，说好的10KG扭力的呢？？？？

这连1斤的重量都不到啊，这么抬不起呢？摩擦也没问题啊。。
后来不知道咋滴，居然冒烟了。。而且有些还滑牙了
我了个去。。
坏得只剩2个好的，3个滑牙，1个冒烟烧了。。
一个舵机4、50块啊。。我这没钱玩下去了，所以就放弃了。

这视频是还算好的情况。。。不过隔天就冒烟了。



就最近，我想那两个好的应该还能用吧。。。
没想到他连摄像头都抬不动。。泪奔。
勉勉强强动下还可以。。。






发帖求安抚。

我待国产如初恋，国产扇我千百遍。
感觉不会再爱了。


顺便开源，让有玩舵机的方便一些。。还有，国产舵机请慎挑。

STM32F10X的：
寄存器版：

void PWM_Init_Tim2(u16 arr,u16 psc) {   //此部分需手动修改IO口设置 RCC->APB1ENR|=1<<0;       //TIM2时钟使能    
GPIOA->CRL&=0XFFFFFF00;//PA0/1输出 GPIOA->CRL|=0X000000BB;//复用功能输出   GPIOA->ODR|=3<<0;//PA0/1上拉   GPIOA->CRL&=0XFFFF00FF;//PA2/3输出 GPIOA->CRL|=0X0000BB00;//复用功能输出   GPIOA->ODR|=3<<2;//PA2/3上拉
TIM2->ARR=arr;//设定计数器自动重装值  TIM2->SC=psc;//预分频器不分频

TIM2->CCMR1|=7<<4;//    CH1  TIM2->CCMR1|=1<<3; TIM2->CCMR1|=7<<12;// CH2  TIM2->CCMR1|=1<<11; TIM2->CCMR2|=7<<4;// CH3  TIM2->CCMR2|=1<<3; TIM2->CCMR2|=7<<12;// CH4  TIM2->CCMR2|=1<<11; 

TIM2->CCER|=1<<0;//CH1 TIM2->CCER|=1<<4;//CH2 TIM2->CCER|=1<<8;//CH3 TIM2->CCER|=1<<12;//CH4
TIM2->CR1|=1<<7;   //ARPE使能  TIM2->CR1|=0x01;    //使能定时器3   }   void PWM_Init_Tim3(u16 arr,u16 psc) {   //此部分需手动修改IO口设置 RCC->APB1ENR|=1<<1;       //TIM3时钟使能       GPIOA->CRL&=0X00FFFFFF;//PA6/7输出 GPIOA->CRL|=0XBB000000;//复用功能输出   GPIOA->ODR|=3<<6;//PA6/7上拉
TIM3->ARR=arr;//设定计数器自动重装值  TIM3->SC=psc;//预分频器不分频
//CH1/2 PWM2模式 //CH1/2预装载使能 TIM3->CCMR1|=7<<4;//CH1 TIM3->CCMR1|=1<<3;//   TIM3->CCMR1|=7<<12;//CH2 TIM3->CCMR1|=1<<11;//

//OC1/2 输出使能    TIM3->CCER|=1<<0;//CH1     TIM3->CCER|=1<<4;//CH2


// TIM3->EGR|=1;//更新事件  TIM3->CR1|=1<<7;   //ARPE使能   多余的一句 TIM3->CR1|=0x01;    //使能定时器3   }  
库函数版：
void TIM3_PWM_Init(u16 arr,u16 psc) {   GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure; TIM_OCInitTypeDef  TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能定时器3时钟   RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC  | RCC_APB2Periph_GPIOB  |RCC_APB2Periph_AFIO, ENABLE);  //使能GPIO外设和AFIO复用功能模块时钟 GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE); //Timer3部分重映射  TIM3_CH2->B5     //设置该引脚为复用输出功能,输出TIM3 CH2的PWM脉冲波形 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;  //复用推挽输出 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化GPIO
   //初始化TIM3 TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值  TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式 TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位 //初始化TIM3 Channel2 PWM模式   TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2   TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高 TIM_OC2Init(TIM3, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC2 TIM_OC3Init(TIM3, &TIM_OCInitStructure); TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器 TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable); TIM_Cmd(TIM3, ENABLE);  //使能TIM3 }


用法：库和寄存器一样    TIM3_PWM_Init (19999,71);

调占空比CCR的值选是19500~17500之间，库用TIM_SetCompare2(TIM3, "CCR" );     算法是 20000-（500+text*7.8125）;   text范围是0~256;




F4版本

F4的寄存器版不会。。。= = 

库函数：
void PWM_Init(void) {   GPIO_InitTypeDef GPIO_InitStructure;
  /* TIM3 clock enable */   RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
  /* GPIOC and GPIOB clock enable */   RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
/* GPIOB Configuration:  TIM3 CH3 (PB0) and TIM3 CH4 (PB1) */   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;   GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;   GPIO_Init(GPIOB, &GPIO_InitStructure); 
  /* Connect TIM3 pins to AF2 */     GPIO_PinAFConfig(GPIOB, GPIO_PinSource0, GPIO_AF_TIM3);   GPIO_PinAFConfig(GPIOB, GPIO_PinSource1, GPIO_AF_TIM3); 
/* ----------------------------------------------------------------------- TIM3 Configuration: generate 4 PWM signals with 4 different duty cycles.
In this example TIM3 input clock (TIM3CLK) is set to 2 * APB1 clock (PCLK1),  since APB1 prescaler is different from 1.    TIM3CLK = 2 * PCLK1   PCLK1 = HCLK / 4  => TIM3CLK = HCLK / 2 = SystemCoreClock /2 To get TIM3 counter clock at 28 MHz, the prescaler is computed as follows: Prescaler = (TIM3CLK / TIM3 counter clock) - 1 Prescaler = ((SystemCoreClock /2) /28 MHz) - 1 To get TIM3 output clock at 30 KHz, the period (ARR)) is computed as follows: ARR = (TIM3 counter clock / TIM3 output clock) - 1 = 665 TIM3 Channel1 duty cycle = (TIM3_CCR1/ TIM3_ARR)* 100 = 50% TIM3 Channel2 duty cycle = (TIM3_CCR2/ TIM3_ARR)* 100 = 37.5% TIM3 Channel3 duty cycle = (TIM3_CCR3/ TIM3_ARR)* 100 = 25% TIM3 Channel4 duty cycle = (TIM3_CCR4/ TIM3_ARR)* 100 = 12.5%
Note:   SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.  Each time the core clock (HCLK) changes, user had to call SystemCoreClockUpdate()  function to update SystemCoreClock variable value. Otherwise, any configuration  based on this variable will be incorrect.     ----------------------------------------------------------------------- */     PrescalerValue = (uint16_t) ((SystemCoreClock /2) / 1000000) - 1;
  /* Time base configuration */   TIM_TimeBaseStructure.TIM_Period = 19999;   TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;   TIM_TimeBaseStructure.TIM_ClockDivision = 0;   TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;   TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;   TIM_OCInitStructure.TIM_Pulse = CCR1_Val;   TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;   /* PWM1 Mode configuration: Channel3 */   TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;   TIM_OCInitStructure.TIM_Pulse = 0x0000;
  TIM_OC3Init(TIM3, &TIM_OCInitStructure);
  TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
  /* PWM1 Mode configuration: Channel4 */   TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;   TIM_OCInitStructure.TIM_Pulse = 0x0000;
  TIM_OC4Init(TIM3, &TIM_OCInitStructure);
  TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
  TIM_ARRPreloadConfig(TIM3, ENABLE);
  /* TIM3 enable counter */   TIM_Cmd(TIM3, ENABLE); }


伤心，钱被坑了。