STM32-12路舵机控制

一：材料准备

12个9G舵机、1个STM32单片机

二：程序

3个定时器的配置，每个定时器4个通道的配置（本文使用的是STM32f103vet6）：

//PWM输出初始化
//arr：自动重装值
//psc：时钟预分频数
void TIM4_PWM_Init(u16 arr,u16 psc)
{  
	GPIO_InitTypeDef GPIO_InitStructure;
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	TIM_OCInitTypeDef  TIM_OCInitStructure;
	

	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);	//使能定时器4时钟
 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD  | RCC_APB2Periph_AFIO, ENABLE);  //使能GPIO外设和AFIO复用功能模块时钟



	
	GPIO_PinRemapConfig(GPIO_Remap_TIM4, ENABLE); //Timer4部分重映射 
//学习网站 	  https://www.cnblogs.com/zhoubatuo/p/6135103.html


	
 
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15; //TIM_CH1
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //复用推挽输出
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOD, &GPIO_InitStructure);//初始化GPIO
 
   //初始化TIM4
	TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
	TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 
	TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
	TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
	
	//初始化TIM4 Channel  1 PWM模式	 
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式1
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
	TIM_OC1Init(TIM4, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM4 OC1
	TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);  //使能TIM4在CCR2上的预装载寄存器
	
	//初始化TIM4 Channe2	
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式1
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
	TIM_OC2Init(TIM4, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM4 OC2
	TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);  //使能TIM4在CCR2上的预装载寄存器

	//初始化TIM4 Channe3
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式1
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
	TIM_OC3Init(TIM4, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM4 OC3
	TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);  //使能TIM4在CCR2上的预装载寄存器

	//初始化TIM4 Channe4
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式1
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
	TIM_OC4Init(TIM4, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM4 OC4
	TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);  //使能TIM4在CCR2上的预装载寄存器
 
	TIM_Cmd(TIM4, ENABLE);  //使能TIM4
}
void TIM3_PWM_Init(u16 arr,u16 psc)
{  
	GPIO_InitTypeDef GPIO_InitStructure;
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	TIM_OCInitTypeDef  TIM_OCInitStructure;
	

	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);	//使能定时器4时钟
 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC  | RCC_APB2Periph_AFIO, ENABLE);  //使能GPIO外设和AFIO复用功能模块时钟


	
	GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE); //Timer3完全重映射 
//学习网站 	  https://www.cnblogs.com/zhoubatuo/p/6135103.html
	
	
 
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9; //TIM_CH1
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //复用推挽输出
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOC, &GPIO_InitStructure);//初始化GPIO
 
   //初始化TIM4
	TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
	TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 
	TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
	TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
	
	//初始化TIM3 Channel  1 PWM模式	 
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式1
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
	TIM_OC1Init(TIM3, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC1
	TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器

	//初始化TIM3 Channe2
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式1
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
	TIM_OC2Init(TIM3, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC2
	TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器

	//初始化TIM3 Channe3
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式1
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
	TIM_OC3Init(TIM3, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC3
	TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器

	//初始化TIM3 Channe4
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式1
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
	TIM_OC4Init(TIM3, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC4
	TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器
 
	TIM_Cmd(TIM3, ENABLE);  //使能TIM3
}

void TIM2_PWM_Init(u16 arr,u16 psc)
{  
	GPIO_InitTypeDef GPIO_InitStructure;
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	TIM_OCInitTypeDef  TIM_OCInitStructure;
	

	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);	//使能定时器A时钟
 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA  | RCC_APB2Periph_AFIO, ENABLE);  //使能GPIO外设和AFIO复用功能模块时钟


	
//	GPIO_PinRemapConfig(GPIO_FullRemap_TIM2, ENABLE); //Timer2    不映射 
//学习网站 	  https://www.cnblogs.com/zhoubatuo/p/6135103.html
	
	
 
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3; //TIM_CH1
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //复用推挽输出
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIO
 
   //初始化TIM4
	TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
	TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 
	TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
	
	//初始化TIM3 Channel  1 PWM模式	 
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式1
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
	TIM_OC1Init(TIM2, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC1
	TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器

	//初始化TIM3 Channe2
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式1
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
	TIM_OC2Init(TIM2, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC2
	TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器

	//初始化TIM3 Channe3
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式1
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
	TIM_OC3Init(TIM2, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC3
	TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器

	//初始化TIM3 Channe4
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式1
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
	TIM_OC4Init(TIM2, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC4
	TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器
 
	TIM_Cmd(TIM2, ENABLE);  //使能TIM3
}

主程序：

//舵机角度
//TIM_SetCompare1(TIMx,50)     0度
//TIM_SetCompare1(TIMx,100)   45度
//TIM_SetCompare1(TIMx,150)   90度
//TIM_SetCompare1(TIMx,200)  135度
//TIM_SetCompare1(TIMx,250)  180度	 
	 
	TIM_SetCompare1(TIM4,50);// GPIO_Pin_12|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15;    D
	TIM_SetCompare2(TIM4,50);//  PD13
    TIM_SetCompare3(TIM4,50);//  PD14
	TIM_SetCompare4(TIM4,50);//	DD15

	TIM_SetCompare1(TIM3,50);//GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9;      C
	TIM_SetCompare2(TIM3,50);//PC7
    TIM_SetCompare3(TIM3,50);//PC8
	TIM_SetCompare4(TIM3,50);//PC9

	TIM_SetCompare1(TIM2,50);//GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3;      A
	TIM_SetCompare2(TIM2,50);//PA1
    TIM_SetCompare3(TIM2,50);//PA2
	TIM_SetCompare4(TIM2,50);//PA3
	
  while(1)
	{
		delay_ms(10);
		TIM_SetCompare1(TIM2,cont);
		TIM_SetCompare2(TIM2,cont);
		TIM_SetCompare3(TIM2,cont);
		TIM_SetCompare4(TIM2,cont);
		
		TIM_SetCompare1(TIM3,cont);
		TIM_SetCompare2(TIM3,cont);
		TIM_SetCompare3(TIM3,cont);
		TIM_SetCompare4(TIM3,cont);

		TIM_SetCompare1(TIM4,cont);
		TIM_SetCompare2(TIM4,cont);
		TIM_SetCompare3(TIM4,cont);
		TIM_SetCompare4(TIM4,cont);		
		cont++;
		if(cont>250)
			cont = 50;
     }

定时器的配置参考网址：

https://www.cnblogs.com/zhoubatuo/p/6135103.html

有了这些配置，你就可以打造自己的蜘蛛机器人了

有疑问者请联系：QQ：1735915513