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39 lines
883 B
C
39 lines
883 B
C
/*
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pwm控制舵机
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*/
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/*Includes -----------------------------------------*/
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#include "bsp/pwm.h"
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#include "servo.h"
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#define SERVO_MIN_DUTY 0.025f
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#define SERVO_MAX_DUTY 0.125f
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/**
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* @brief
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* @param
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* @retval BSP_OK / BSP_ERR
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*/
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int8_t SERVO_Init(SERVO_t *servo) {
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if (servo == NULL) return BSP_ERR;
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return BSP_PWM_Start(servo->pwm_ch);
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}
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int8_t SERVO_SetAngle(SERVO_t *servo, float angle) {
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if (servo == NULL) return BSP_ERR;
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/*限制角度范围*/
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if (angle < 0.0f) angle = 0.0f;
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if (angle > 180.0f) angle = 180.0f;
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/*角度映射到占空比*/
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float duty = servo->min_duty + (angle / 180.0f) * (servo->max_duty - servo->min_duty);
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return BSP_PWM_Set(servo->pwm_ch, duty);
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}
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int8_t SERVO_Stop(SERVO_t *servo) {
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if (servo == NULL) return BSP_ERR;
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return BSP_PWM_Stop(servo->pwm_ch);
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} |