[ARM 실습 51] Servo Motor PWM Control-1 (계산공식적용)

[송명규]

pwm_motor.zip

5.97MB

최종 정리한 겁니다.

1.. 첫 번째 방식 == 계산공식 적용 해서 하는 방법

     TIM4 Ch1 ==  PWM Out

      딜레이는 Tick Time에서 했습니다.

// 50hz = 20mS

// angle max data = 240 = max pulse duty = 2.4ms = 180 deg

// angle min data = 60 == min pulse duty = 0.6ms = 0 deg

// angle == 원하는 각도 

uint8_t deg[] = {0, 90, 180, 120, 60, 180};

pwm_pulse = ((angle * (240-60))/180.0) + 60;

1. 소스코드

#define TIM4_PWM_ch1_ON HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1)

#define TIM4_PWM_ch1_OFF HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_1)

uint8_t deg[] = {0, 90, 180, 120, 60, 180};

uint16_t rg, t_loop = 0, pwm_pulse = 0, dg;

uint8_t cnt = 0, flag = 0;

void m_servo(float angle)

{

// 50hz = 20mS

// angle max data = 240 = max pulse duty = 2.4ms = 180 deg

// angle min data = 60 == min pulse duty = 0.6ms = 0 deg

pwm_pulse = ((angle * (240-60))/180.0) + 60;

TIM4 -> CCR1 = pwm_pulse;

}

void my_time()

{

t_loop++;

if(t_loop > 1000)

{

t_loop = 0;

flag = 1;

cnt++;

if(cnt >= 7) cnt = 0;

}

}

int main(void)

{

  TIM4_PWM_ch1_ON;

while (1)

{

if(flag == 1){

flag = 0;

dg = deg[cnt];

m_servo(dg);

printf("%d\r\n",cnt);

}

}

2. CubeMX 설정

SYS CLK = 32MHZ

Prescaler = 160-1 ==>> 프리;스케일러 값

Counter Period = 2000-1