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STM32单片机 PWM控制 MG90S舵机

news 2025/5/14 22:47:31

MG90S舵机图片

接线图

输出PWM波要求

输入舵机的周期为 20ms ，因此PWM频率要设置为50Hz。

PWM占空比	舵机状态
0%	停止
2.5%	顺时钟快转
5%	顺时钟慢转
7.5%	停止
10%	逆时针慢转
12.5%	逆时针快转
100%	停止

PWM参数计算公式

代码示例

PWM.h

#include "stm32f10x.h"                  // Device header#ifndef __PWM_H
#define __PWM_Hvoid PWM_Init(void);
void PWM_SetCompare1(uint16_t Compare);#endif

PWM.c

#include "stm32f10x.h"                  // Device headervoid PWM_Init(void){RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	//复用推挽输出GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA,&GPIO_InitStructure);TIM_InternalClockConfig(TIM2);TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;TIM_TimeBaseInitStruct.TIM_Period = 20000-1;	//自动重装器，ARRTIM_TimeBaseInitStruct.TIM_Prescaler = 72-1;	//预分频器，PSCTIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStruct);TIM_OCInitTypeDef TIM_OCInitStruct;TIM_OCStructInit(&TIM_OCInitStruct);TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;TIM_OCInitStruct.TIM_Pulse = 0;  //CCRTIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;TIM_OC1Init(TIM2,&TIM_OCInitStruct);TIM_Cmd(TIM2,ENABLE);}void PWM_SetCompare1(uint16_t Compare){TIM_SetCompare1(TIM2,Compare);}

Key.h

#include "stm32f10x.h"                  // Device header#ifndef __LED_H
#define __LED_Hvoid LED_Switch(uint8_t Temp);
void LED_Init(void);#endif

Key.c

#include "stm32f10x.h"                  // Device header
#include "Delay.h"
uint16_t KeyState = 0;
void Key_Init(void){RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;	//上拉输入GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOB,&GPIO_InitStructure);
}uint8_t Key_GetState(void){if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_1) == 1){Delay_ms(20);//消抖while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_1) == 1);Delay_ms(20);KeyState += 1;}if(KeyState > 40){KeyState = 0;}return KeyState;}

main.c

#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "OLED.h"
#include "Key.h"
#include "LED.h"
#include "Encoder.h"
#include "PWM.h"int main(void){PWM_Init();Key_Init();OLED_Init();uint16_t Key_State;while(1){Key_State = Key_GetState();PWM_SetCompare1(Key_State * 500);OLED_Printf(0,0,OLED_8X16,"%d",Key_State);OLED_Update();}
}