單片機源程序如下:
如圖，定時器1的四個通道輸出PWM脈沖驅(qū)動四個舵機到不同角度，一號舵機由于輸入的PWM的寬度在主函數(shù)中循環(huán)調(diào)整，可以來回轉(zhuǎn)動。主函數(shù)如下：
int main(void)
{
/* USER CODE BEGIN 1 */
uint8_t i = 0;
/* USER CODE END 1 */
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_TIM2_Init();
MX_TIM1_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
while (1)
{
HAL_Delay(10);
if(i < 200)
{
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 50+i);
i++;
}
else
break;
}
while (1)
{
HAL_Delay(10);
if(i > 0)
{
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 50+i);
i--;
}
else
break;
}
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
在proteus中對舵機的屬性進(jìn)行了修改：重新設(shè)定最小PWM寬度為0.5ms與2.5ms。
仿真和代碼.7z
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