2024-11-06 22:26:06 +08:00
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#include "servo.h"
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#include "tim.h"
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2024-11-07 11:59:20 +08:00
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#include "lcd.h"
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2024-11-06 22:26:06 +08:00
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2024-11-07 11:59:20 +08:00
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uint8_t Servo_Speed = 1, Servo_goal = 0, Servo_position = 0;
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2024-11-06 22:26:06 +08:00
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void Servo_SetAngle(int goal)
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{
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2024-11-07 11:59:20 +08:00
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Servo_position = goal;
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__HAL_TIM_SET_COMPARE(&htim15, TIM_CHANNEL_2, 2500 * goal / 180 - 500);
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2024-11-06 22:26:06 +08:00
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}
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2024-11-07 11:59:20 +08:00
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// 往哪个方向转
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2024-11-06 22:26:06 +08:00
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int Servo_toward(void)
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{
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2024-11-07 11:59:20 +08:00
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return Servo_goal > Servo_position;
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2024-11-06 22:26:06 +08:00
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}
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2024-11-07 11:59:20 +08:00
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// void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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// {
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// static uint8_t times = 0,tt=0;
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// if (htim == &htim7)
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// {
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// // if (++times == 250)
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// // {
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// // LCD_ShowxNum(50, 50, ++tt, 4, 16, 0);
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// // times = 0;
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// // }
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// // else
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// // {
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// // return;
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// // }
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// if (Servo_position == Servo_goal)
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// {
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// return;
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// }
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// if (Servo_Speed == 1)
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// {
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// Servo_position = Servo_goal;
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// }
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// if (Servo_Speed == 2)
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// {
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// Servo_position += Servo_toward() * 9;
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// }
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// if (Servo_Speed == 3)
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// {
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// Servo_position += Servo_toward();
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// }
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// Servo_SetAngle(Servo_position);
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// }
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// }
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