使用STM32同时控制两个舵机的方法详解

硬件准备：stm32,两个舵机

舵机pwm波形输出，使用TIM2中的两个通道进行输出。

pwm.c

#include "stm32f10x.h"                  // Device header

void PWM_Init(void)
{
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1|GPIO_Pin_0;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	TIM_InternalClockConfig(TIM2);
	
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = 20000 - 1;		//ARR
	TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1;		//PSC
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);
	
	TIM_OCInitTypeDef TIM_OCInitStructure;
	TIM_OCStructInit(&TIM_OCInitStructure);
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
	TIM_OCInitStructure.TIM_Pulse = 0;		//CCR
	TIM_OC1Init(TIM2, &TIM_OCInitStructure);
	TIM_OC2Init(TIM2, &TIM_OCInitStructure);
	

	
	TIM_Cmd(TIM2, ENABLE);
}

void PWM_SetCompare2(uint16_t Compare)
{
	TIM_SetCompare2(TIM2, Compare);
}
void PWM_SetCompare1(uint16_t Compare)
{
	TIM_SetCompare1(TIM2, Compare);
}

pwm,h

#ifndef __PWM_H
#define __PWM_H

void PWM_Init(void);
void PWM_SetCompare1(uint16_t Compare);
void PWM_SetCompare2(uint16_t Compare);

#endif

为了更加直观的使用，用Servo函数对pwm输出占空比与舵机旋转角度进行封装。

Servo,c

#include "stm32f10x.h"                  // Device header
#include "PWM.h"

void Servo_Init(void)
{
	PWM_Init();
}

void Servo_SetAngle2(float Angle2)
{
	PWM_SetCompare2(Angle2 / 180 * 2000 + 500);

}
void Servo_SetAngle1(float Angle1)
{
	PWM_SetCompare1(Angle1 / 180 * 2000 + 500);

}

Servo,h

#ifndef __SERVO_H
#define __SERVO_H

void Servo_Init(void);
void Servo_SetAngle1(float Angle1);
void Servo_SetAngle2(float Angle2);

#endif

主函数

#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "OLED.h"
#include "PWM.h"
#include "Key.h"
#include "Servo.h"


uint8_t KeyNum;
float Angle1,Angle2;

int main(void)
{

	Servo_Init();
	Key_Init();
	Serial_Init();
	

	
	while (1)
	{
                if( KeyNum == 1 )
                {
				Angle1+=30;
				if(Angle1>180)
				{
					Angle1 = 0;
					Delay_ms(50);
				}
				Servo_SetAngle1(Angle1);
								break;
                }
				
	
                if(KeyNum == 2 )
                {
				Angle2+=30;
				if(Angle2>180)
				{
					Angle2 = 0;
					Delay_ms(50);
				}
				Servo_SetAngle2(Angle2);
				break;
                }
			
			
			
		
	}
}

同时分享一位大佬的视频，我也是跟着他学习，一步一步总结的。

https://www.bilibili.com/video/BV1th411z7sn/?spm_id_from=333.1007.top_right_bar_window_custom_collection.content.click