STM32F429阿波罗驱动PCA9685舵机驱动板根据这个修改https://blog.csdn.net/MarkSoviet/article/details/79841366
单片机源程序如下:
- #include "sys.h"
- #include "delay.h"
- #include "usart.h"
- #include "led.h"
- #include "timer.h"
- #include "pca9685.h"
- #include "myiic.h"
- #include "key.h"
- int main(void)
- {
- u8 dir=1,key;
- u16 led0pwmval=0,pwm,pwm1;
- HAL_Init(); //初始化HAL库
- IIC_Init();
- KEY_Init();
- Stm32_Clock_Init(360,25,2,8); //设置时钟,180Mhz
- delay_init(180); //初始化延时函数
- uart_init(115200); //初始化USART
- LED_Init(); //初始化LED
- TIM3_PWM_Init(20000-1,90-1); //90M/90=1M的计数频率，自动重装载为500，那么PWM频率为1M/500=2kHZ
- PCA9685_write(PCA9685_MODE1,0x0);//PCA9685复位
- setPWMFreq(52);//实测频率为输入值-2
- while(1)
- {
- key=KEY_Scan(0);
- // if(dir)led0pwmval++; //dir==1 led0pwmval递增
- // else led0pwmval--; //dir==0 led0pwmval递减
- // if(led0pwmval>300)dir=0; //led0pwmval到达300后，方向为递减
- // if(led0pwmval==0)dir=1; //led0pwmval递减到0后，方向改为递增
- TIM_SetTIM3Compare4(18000); //修改比较值，修改占空比
-
- switch(key)
- {
- case WKUP_PRES:
- setPWM(0, 0, calculate_PWM(0));
- break;
- case KEY2_PRES:
- setPWM(0, 0, calculate_PWM(90));
- break;
- case KEY1_PRES:
- setPWM(0, 0, calculate_PWM(45));
- break;
- case KEY0_PRES:
- setPWM(0, 0, calculate_PWM(30));
- break;
- }
- }
- }
所有资料51hei提供下载:
PCA9685舵机控制.7z
(528.26 KB, 下载次数: 60)
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