机械臂系列之一：舵机控制

机械臂共有六个舵机， 舵机通过PWM输出波形控制，波形的高电平持续时间对应旋转的角度， 实现0~180°的旋转角度，疑问:能否实现舵机旋转角度的平滑输出？

由于控制的舵机较多，所以用了TIM2、TIM3两个定时器输出六路PWM，注意调用GPIO_PinRemapConfig函数，用来开启GPIO管脚部分映射功能.配置1~4输出通道。
硬件连接： 舵机用外置直流电源供电，注意直流电源和开发板GND要相连

TIM1的初始化配置
void Tim1_PWM_Init(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStruct;
    TIM_OCInitTypeDef TIM_OCInitStructure;
    GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3,ENABLE);
    //定时器初始化
    TIM_TimeBaseStruct.TIM_Period=20000;//初值
    TIM_TimeBaseStruct.TIM_Prescaler=72;//预分频
    TIM_TimeBaseStruct.TIM_ClockDivision=0;
    TIM_TimeBaseStruct.TIM_CounterMode=TIM_CounterMode_Up;//向上
    TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStruct);
    //pwm 初始化
    TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM2;
    TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_Low;
    TIM_OC1Init(TIM3,&TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM3,TIM_OCPreload_Enable);
    TIM_OC2Init(TIM3,&TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM3,TIM_OCPreload_Enable);
    TIM_OC3Init(TIM3,&TIM_OCInitStructure);
    TIM_OC3PreloadConfig(TIM3,TIM_OCPreload_Enable);
    TIM_OC4Init(TIM3,&TIM_OCInitStructure);
    TIM_OC4PreloadConfig(TIM3,TIM_OCPreload_Enable);
    TIM_Cmd(TIM3,ENABLE);
    TIM_SetCompare1(TIM3,djsd);    
    TIM_SetCompare2(TIM3,djsd);         
    TIM_SetCompare3(TIM3,djsd);         
    TIM_SetCompare4(TIM3,djsd);        
}

PWM输出管脚初始化
void DJ_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;    
    GPIO_InitStructure.GPIO_Pin=GPIO_Pin_4;    
    GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;
    GPIO_Init(PWM_GPIO_Port,&GPIO_InitStructure);    
    GPIO_InitStructure.GPIO_Pin=GPIO_Pin_5;    
    GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;
    GPIO_Init(PWM_GPIO_Port,&GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0;    
    GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;
    GPIO_Init(PWM_GPIO_Port,&GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin=GPIO_Pin_1;    
    GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;
    GPIO_Init(PWM_GPIO_Port,&GPIO_InitStructure);
}

通过键盘控制舵机旋转
void DJ4_KZ_Key(void)
{
    if(GPIO_ReadInputDataBit(KEY4_PORT,KEY4_PIN)==Bit_RESET)
    {
        djsd=1500;     
        TIM_SetCompare4(TIM3,djsd);  //1.5ms 0 度      
        printf_bz=1;
        while(!GPIO_ReadInputDataBit(KEY1_PORT,KEY1_PIN));
    }
    if(GPIO_ReadInputDataBit(KEY2_PORT,KEY2_PIN)==Bit_RESET)  //右   熄灭
    {
        if(djfx==0)    //左  反转
        {
            djsd=500;
            djfx=1;
            TIM_SetCompare4(TIM3,djsd); //0.5ms -90 度              
            printf_bz=1;
        }
        else        //右  正转
        {
            djsd=2500;
            djfx=0;
            TIM_SetCompare4(TIM3,djsd); //2.5ms 90 度              
            printf_bz=1;
        }
        while(!GPIO_ReadInputDataBit(KEY2_PORT,KEY2_PIN));
    }
    //上 加速
    if(GPIO_ReadInputDataBit(KEY3_PORT,KEY3_PIN)==Bit_RESET)  //上  增加
    {
        if(djsd>500) djsd=djsd-500;            
        TIM_SetCompare4(TIM3,djsd); 
        printf_bz=1;
        while(!GPIO_ReadInputDataBit(KEY3_PORT,KEY3_PIN));
    }
    //下 减速
    if(GPIO_ReadInputDataBit(KEY4_PORT,KEY4_PIN)==Bit_RESET)    //下  减少
    {
        if(djsd<2500) djsd=djsd+500;            
        TIM_SetCompare4(TIM3,djsd); 
        printf_bz=1;
        while(!GPIO_ReadInputDataBit(KEY4_PORT,KEY4_PIN));
    }
}

通过PAJ7620手势识别控制舵机旋转
未完待续...