基于單片機的8路舵機機控制

ID:401793 · 發(fā)表于 2020-6-15 08:38

#include "led.h"
#include "delay.h"
#include "sys.h"
#include "key.h"
#include "usart.h"
#include "exti.h"
#include "wdg.h"
#include "timer.h"
#include "pwm.h"

int main(void)
{
      u16 pwm_value=225;
      int dir=1;
      SystemInit();
      delay_init(72);          //Ñóê±3õê¼»ˉ
      NVIC_Configuration();
//       uart_init(9600);
//       LED_Init();
//       delay_us(500);
//       KEY_Init();       //°′¼ü3õê¼»ˉ
      TIM1_Init(1999,719);       //PWMÆμÂê=72000/9000/150=50hz
      TIM2_Init(9000,160);       //PWMÆμÂê=72000/9000/150=50hz
      TIM3_Init(9000,160);       //PWMÆμÂê=72000/9000/150=50hz
      TIM4_Init(9000,160);       //PWMÆμÂê=72000/9000/150=50hz
//       LED_Init();

            while(1)
      {
               delay_us(1000);

            pwm_value = pwm_value + dir;
            if(pwm_value > 1125)
            dir = -1;
            if(pwm_value < 225)
            dir = 1;

            TIM_SetCompare1(TIM2,pwm_value);
            TIM_SetCompare2(TIM2,pwm_value);
            TIM_SetCompare3(TIM2,pwm_value);
            TIM_SetCompare4(TIM2,pwm_value);

            TIM_SetCompare1(TIM3,pwm_value);
            TIM_SetCompare2(TIM3,pwm_value);
            TIM_SetCompare3(TIM3,pwm_value);
            TIM_SetCompare4(TIM3,pwm_value);

            TIM_SetCompare1(TIM4,pwm_value);
            TIM_SetCompare2(TIM4,pwm_value);
            TIM_SetCompare3(TIM4,pwm_value);
            TIM_SetCompare4(TIM4,pwm_value);

            TIM_SetCompare1(TIM1,pwm_value);
            TIM_SetCompare2(TIM1,pwm_value);
            TIM_SetCompare3(TIM1,pwm_value);
            TIM_SetCompare4(TIM1,pwm_value);
      }

}

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