如何实现Atmega2560舵机PWM控制？

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问答对人有帮助，内容完整，我也想知道答案 0 如何实现Atmega2560舵机PWM控制？ 0
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答案对人有帮助，有参考价值 0 舵机Servo 示意图舵机控制原理使用芯片：Atmega 2560 晶振： 16MHz 产品： freenove_Carwling_Robot 目标：用16位的四个定时器1，3，4，5分别产生PWM控制12个舵机。由于舵机的控制并不是PWM的硬件连接，所以这里要使用软件中断来控制程序： #include #include #define F_CPU 16000000UL #include // ****************************************************************************** // Interrupt Routines // ****************************************************************************** #define scale 180 #define RF_wrist_def 170182 #define RF_elbow_def 110182 //minus up #define RF_shoulder_def 127182 #define LF_wrist_def 100182 // inc dn #define LF_elbow_def 150182 //inc up #define LF_shoulder_def 130182 //inc cw #define RR_wrist_def 170182 #define RR_elbow_def 110182 #define RR_shoulder_def 90182 void timer_init(void) { // timer1 init TIMSK1= (1< TCCR1B \|= (1 << CS10) ;// turn on 16 bit timer1 also with /1024 TIMSK3= (1< TCCR3B \|= (1 << CS30) ;// turn on 16 bit timer1 also with /1024 } ISR(TIMER1_OVF_vect) { // timer1 overflow PORTA \|= 0b00000111; //PA0 <--> D22 // } ISR(TIMER1_COMPA_vect) { // timer1 match PORTA &= ~0x01; } ISR(TIMER1_COMPB_vect) { PORTA &= ~0x02; } ISR(TIMER1_COMPC_vect) { PORTA &= ~0x04; } void RF_wrist(unsigned char angle) { unsigned int temp = anglescale; OCR1A = temp; } void RF_elbow(unsigned char angle) { unsigned int temp = anglescale; OCR1B = temp; } void RF_shoulder(unsigned char angle) { unsigned int temp = anglescale; OCR1C = temp; } ISR(TIMER3_OVF_vect) { // timer1 overflow PORTC \|= 1<<0; //37<-->PC0 PORTD \|= 1<<7; //38<-->PD7 PORTG \|= 1<<2; //39<-->PG2 } ISR(TIMER3_COMPA_vect) { // timer3 match PORTC &= ~(1<<0); //37<-->PC0 } ISR(TIMER3_COMPB_vect) { PORTD &= ~(1<<7); //38<-->PD7 } ISR(TIMER3_COMPC_vect) { PORTG &= ~(1<<2); //39<-->PG2 } void LF_wrist(unsigned char angle) { unsigned int temp = anglescale; OCR3C = temp; } void LF_elbow(unsigned char angle) { unsigned int temp = anglescale; OCR3B = temp; } void LF_shoulder(unsigned char angle) { unsigned int temp = angle*scale; OCR3A= temp; } unsigned char RF_wrist_cur = 0; unsigned char RF_elbow_cur = 0; unsigned char RF_shoulder_cur = 0; unsigned char LF_wrist_cur = 0; unsigned char LF_elbow_cur = 0; unsigned char LF_shoulder_cur = 0; unsigned char RR_wrist_cur = 0; unsigned char RR_elbow_cur = 0; unsigned char RR_shoulder_cur = 0; unsigned char LR_wrist_cur = 0; unsigned char LR_elbow_cur = 0; unsigned char LR_shoulder_cur = 0; void shape_def(void) { PORTK \|= (1<<7) \| (1<<5); OCR1A = RF_wrist_def; OCR1B = RF_elbow_def; OCR1C = RF_shoulder_def; RF_wrist_cur = RF_wrist_def/scale; RF_elbow_cur = RF_elbow_def/scale; RF_shoulder_cur = RF_shoulder_def/scale; OCR3A = LF_shoulder_def; OCR3B = LF_elbow_def; OCR3C = LF_wrist_def; LF_wrist_cur = LF_wrist_def/scale; LF_elbow_cur = LF_elbow_def/scale; LF_shoulder_cur = LF_shoulder_def/scale; _delay_ms(1000); PORTK &= ~((1<<7) \| (1<<5)); } void Action1(void){ PORTK \|= (1<<7) \| (1<<5); for(unsigned char i=0;i<22;i++) { RF_elbow_cur-=2; RF_elbow(RF_elbow_cur); RF_wrist_cur-=4; RF_wrist(RF_wrist_cur); LF_elbow_cur+=2; LF_elbow(LF_elbow_cur); LF_wrist_cur+=4; LF_wrist(LF_wrist_cur); _delay_ms(40); } for(unsigned char i=0;i<15;i++) { RF_shoulder_cur-=2; RF_shoulder(RF_shoulder_cur); LF_shoulder_cur+=2; LF_shoulder(LF_shoulder_cur); _delay_ms(20); } for (unsigned char j=0;j<3;j++) { for(unsigned char i=0;i<30;i++) { RF_shoulder_cur+=2; RF_shoulder(RF_shoulder_cur); LF_shoulder_cur-=2; LF_shoulder(LF_shoulder_cur); _delay_ms(20); } for(unsigned char i=0;i<30;i++) { RF_shoulder_cur-=2; RF_shoulder(RF_shoulder_cur); LF_shoulder_cur+=2; LF_shoulder(LF_shoulder_cur); _delay_ms(20); } } PORTK &= ~((1<<7) \| (1<<5)); } int main( void ) { DDRA = 0xFF; DDRK = 0xFF; DDRC = 0xFF; DDRD = 0xFF; DDRG = 0xFF; timer_init(); sei(); shape_def(); Action1(); shape_def(); while(true) { } }

2022-1-24 10:47:08 评论举报李子跃