STM32F103C8T6通过PWM的两个通道控制两个舵机

STM32F103C8T6通过PWM的两个通道控制两个舵机

通过B站大佬（江协科技）的视频，学习了通过PWM控制舵机，在他代码的基础之上添加的东西，使用一个PWM的两个通道来控制两个舵机。

代码其实很简单，就是添加一个按键，一个服务函数就ok了但是还是有一些小坑

1.main.c

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

uint8_t KeyNum;
float Angle;
float Angle1;

int main(void)
{
	OLED_Init();
	Servo_Init();
	Key_Init();
	
	OLED_ShowString(1, 1, "Angle2:");
	OLED_ShowString(2, 1, "Angle1:");
	while (1)
	{
		KeyNum = Key_GetNum();
		if (KeyNum == 1)//通道2
		{
			Angle += 30;
			if (Angle > 180)
			{
				Angle = 0;
			}
		}
		Servo_SetAngle(Angle);
		OLED_ShowNum(1, 8, Angle, 3);
        
        if (KeyNum == 2)//通道1
		{
			Angle1 += 30;
			if (Angle1 > 180)
			{
				Angle1 = 0;
			}
		}
		Servo_SetAngle1(Angle1);//这里需要添加一个服务函数
		OLED_ShowNum(2, 8, Angle1, 3);
	}
}

2.Servo.c

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

void Servo_Init(void)
{
	PWM_Init();
}

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


void Servo_SetAngle(float Angle)
{
	PWM_SetCompare2(Angle / 180 * 2000 + 500);
}

3.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; //不同IO口对应不同的通道！！！！！
	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);//通道1
	TIM_OC2Init(TIM2, &TIM_OCInitStructure);//通道2
   
	
	TIM_Cmd(TIM2, ENABLE);
}

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


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

这里需要注意一定要在.h文件中声明

 

 第二个坑就是，两个通道对应两个IO口