STM32编码器控制舵机

STM32编码器控制舵机

运用TIM2和TIM3得到编码器输入和输出PWM波控制sg90舵机旋转角度

main.c

#include "stm32f10x.h"                  // Device header
#include "OLED.h"
#include "Encoder.h"
#include "Servo.h"

int16_t angle;
int main(void)
{
   
   
	OLED_Init();
	Encoder_Init();
	Servo_Init();

	while (1)
	{
   
   
		OLED_ShowSignedNum(1, 1, Encoder_Get(), 5);
		angle = Encoder_Get();
		if(angle < -100)
			angle = -100;
		else if(angle > 100)
			angle = 100