mirror of
https://github.com/goldenfishs/MRobot.git
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Robofish
eeb02a2de3
主要更改： - 将所有BSP外设文件移动到独立子文件夹（can/, fdcan/, uart/等） - 将所有Component文件移动到独立子文件夹（pid/, filter/, cmd/等） - 将所有Device文件移动到独立子文件夹（dr16/, bmi088/等） - 更新代码生成器以支持新的文件夹结构 - 保持向后兼容性，支持从子文件夹或根目录加载模板 - 添加STRUCTURE.md文档说明新的目录结构 优势： ✅ 更好的代码组织和管理 ✅ 便于添加、删除、修改模板 ✅ 清晰的模块划分 ✅ 向后兼容现有结构
47 lines
1019 B
C
47 lines
1019 B
C
/*
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pwm<77><6D><EFBFBD>ƶ<EFBFBD><C6B6>
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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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/* USER INCLUDE BEGIN */
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/* USER INCLUDE END */
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#define SERVO_MIN_DUTY 0.025f
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#define SERVO_MAX_DUTY 0.125f
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/* USER DEFINE BEGIN */
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/* USER DEFINE END */
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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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/*<2A><><EFBFBD>ƽǶȷ<C7B6>Χ*/
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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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/*<2A>Ƕ<EFBFBD>ӳ<EFBFBD>䵽ռ<E4B5BD>ձ<EFBFBD>*/
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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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} |