求教使stm32控制两个舵机完整程序

//配置 回中

RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO| RCC_APB2Periph_GPIOA

| RCC_APB2Periph_TIM1, ENABLE)

void GPIO_Configuration(void)

{

GPIO_InitTypeDef GPIO_InitStructure

/* TIM pin configuration */

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9

GPIO_Init(GPIOA, &GPIO_InitStructure)

}

void TIM_Configuration(void)

{

TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure

TIM_OCInitTypeDef TIM_OCInitStructure

/* Time base configuration */

TIM_TimeBaseStructure.TIM_Period =19999

TIM_TimeBaseStructure.TIM_Prescaler = 71

TIM_TimeBaseStructure.TIM_ClockDivision = 0

TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up

TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure)

/* TIM1 PWM1 Mode configuration: Channel 1，2*/

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1

TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable

TIM_OCInitStructure.TIM_Pulse = 1499

TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High

TIM_OC1Init(TIM1, &TIM_OCInitStructure)

TIM_OC2Init(TIM1, &TIM_OCInitStructure)

}

//改变角度500——-90，2500——90

TIM_SetCompare1(TIM1, Compare1)；

TIM_SetCompare2(TIM1, Compare1)；

//双定时器产生PWM波，控制舵机

//定时器0负责置高电平和控制定时器1的开停，定时器1负责置低电平

#include<STC12C5A.H>

#define uchar unsigned char

#define uint unsigned int

sbit PWM=P3^7

uint b=1500//1.5ms 舵机0位

void Delay1ms(uint i) //1ms延时程序

{

uint j

for(i>0i--)

{

for(j=0j<125j++)

{}

}

}

void main()

{

b=1500

TMOD=0X11

TH0=(65536-20000)/256

TL0=(65536-20000)%256

TH1=(65536-b)/256

TL1=(65536-b)%256

ET0=1

EA=1

TR0=1

PWM=1

P1M0=0X0F//P1低4位推挽输出 接L298N直流电机驱动模块 带动后轮两个电机

P1M1=0X00

while(1)

{

P1=0x0a//低4位 1010 正转

b=1500Delay1ms(2000)//直行

b=1000Delay1ms(1000)//左转

b=1500Delay1ms(2000)//直行

b=2000Delay1ms(1000)//右转

b=1500Delay1ms(2000)//直行

P1=0x05 //低4位 0101 反转

b=1500Delay1ms(2000)//后退

b=1000Delay1ms(1000)//后左转

b=1500Delay1ms(2000)//后退

b=2000Delay1ms(1000)//后右转

b=1500Delay1ms(2000)//后退

}

}

void timer0()interrupt 1//定时器0定时20ms

{

TH0=(65536-20000)/256

TL0=(65536-20000)%256

PWM=1

TR1=1

ET1=1

}

void timer1()interrupt 3//定时器1定时1到2ms

{

TH1=(65536-b)/256

TL1=(65536-b)%256

PWM=0

TR1=0

ET1=0

}

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