arduino驱动MG996舵机+stm32f103驱动舵机

2020/12/16更新stm32f103驱动舵机方式

舵机基本信息

舵机的控制信号周期为20MS的脉宽调制（PWM）信号，其中脉冲宽度从0.5-2.5MS，相对应的舵盘位置为0－180度。也就是说周期20Ms的脉冲，实际起作用的脉宽只有0.5-2.5MS。

arduino驱动舵机

• 接线
  
• arduino自带舵机控制示范程序，运行过一次没细究

#include 

Servo myservo;  // create servo object to control a servo
// twelve servo objects can be created on most boards

int pos = 0;    // variable to store the servo position

void setup() {
     
  myservo.attach(9);  // attaches the servo on pin 9 to the servo object
}

void loop() {
     
  for (pos = 0; pos <= 180; pos += 1) {
      // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }
  for (pos = 180; pos >= 0; pos -= 1) {
      // goes from 180 degrees to 0 degrees
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }
}

stm32驱动舵机方式

系统时钟配置为72MHz
定时器2的配置如下

• 主程序（每2秒切换一次角度）
  
• 补充stm32时钟的理解