servo init

User_Code/module/periph/servo/mg996/mg996.c

@@ -1,5 +1,40 @@
-//
-// Created by ASUS on 2025/11/17.
-//
+/**
+    * @file mg996.c
+    * @author TuxMonkey (https://github.com/TuxMonkey)
+    * @brief MG996 servo motor driver (MG996舵机驱动)
+    * @version 1.0
+    * @date 2024-06-10
+**/
 
+#include <stdlib.h>
+#include <string.h>
 #include "mg996.h"
+#include "bsp_pwm.h"
+
+
+MG996Instance *MG996Register(MG996_Init_Config_s *config)
+{
+    MG996Instance *mg996 = (MG996Instance *) malloc(sizeof(MG996Instance));
+    memset(mg996, 0, sizeof(MG996Instance));
+
+    mg996->pwm = PWMRegister(config->pwm_config);
+    mg996->min_dutyratio = config->min_dutyratio;
+    mg996->max_dutyratio = config->max_dutyratio;
+    mg996->min_angle = config->min_angle;
+    mg996->max_angle = config->max_angle;
+
+    return mg996;
+}
+
+void MG996SetAngle(MG996Instance *mg996, float angle)
+{
+    if (angle < mg996->min_angle)
+        angle = mg996->min_angle;
+    else if (angle > mg996->max_angle)
+        angle = mg996->max_angle;
+
+    auto ratio = (angle - mg996->min_angle) / (mg996->max_angle - mg996->min_angle);
+    auto dutyratio = mg996->min_dutyratio + ratio * (mg996->max_dutyratio - mg996->min_dutyratio);
+
+    PWMSetDutyRatio(mg996->pwm, dutyratio);
+}

User_Code/module/periph/servo/mg996/mg996.h

@@ -1,8 +1,69 @@
-//
-// Created by ASUS on 2025/11/17.
-//
+/**
+* @file mg996.h
+    * @author TuxMonkey (https://github.com/TuxMonkey)
+    * @brief MG996 servo motor driver header (MG996舵机驱动头文件)
+    * @version 1.0
+    * @date 2024-06-10
+**/
 
-#ifndef TRONONEH7_SCAFFOLD_MG996_H
-#define TRONONEH7_SCAFFOLD_MG996_H
+#ifndef MG996_H
+#define MG996_H
 
-#endif //TRONONEH7_SCAFFOLD_MG996_H
+#ifdef __cplusplus
+extern "C"
+{
+
+
+
+#endif
+
+#include <stdint.h>
+
+// 前向声明PWM实例结构体，与bsp_pwm.h中的类型保持一致
+typedef struct PWMInstance PWMInstance;
+
+/**
+ * @brief MG996舵机初始化配置结构体
+ */
+typedef struct
+{
+    void *pwm_config; /**< PWM配置参数 */
+    float min_dutyratio; /**< 最小占空比 (0.0 - 1.0) */
+    float max_dutyratio; /**< 最大占空比 (0.0 - 1.0) */
+    float min_angle; /**< 最小角度 (度) */
+    float max_angle; /**< 最大角度 (度) */
+} MG996_Init_Config_s;
+
+/**
+ * @brief MG996舵机实例结构体
+ */
+typedef struct
+{
+    PWMInstance *pwm; /**< PWM控制器实例指针，类型与bsp_pwm.h中的PWMInstance一致 */
+    float min_dutyratio; /**< 最小占空比 */
+    float max_dutyratio; /**< 最大占空比 */
+    float min_angle; /**< 最小角度 (度) */
+    float max_angle; /**< 最大角度 (度) */
+} MG996Instance;
+
+/**
+ * @brief 注册并初始化MG996舵机
+ *
+ * @param config 初始化配置参数
+ * @return MG996Instance* 舵机实例指针，失败返回NULL
+ */
+MG996Instance *MG996Register(MG996_Init_Config_s *config);
+
+/**
+ * @brief 设置舵机角度
+ *
+ * @param mg996 舵机实例指针
+ * @param angle 目标角度 (度)
+ */
+void MG996SetAngle(MG996Instance *mg996, float angle);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* MG996_H */

User_Code/user_task/dev_tasks/dev_cmd.h

@@ -1,20 +1,20 @@
+// //
+// // Created by ASUS on 2025/12/15.
+// //
 //
-// Created by ASUS on 2025/12/15.
+// #ifndef TRONONEH7_SCAFFOLD_DEV_CMD_H
+// #define TRONONEH7_SCAFFOLD_DEV_CMD_H
 //
-
-#ifndef TRONONEH7_SCAFFOLD_DEV_CMD_H
-#define TRONONEH7_SCAFFOLD_DEV_CMD_H
-
-/**
- * @brief 机器人核心控制任务初始化,会被RobotInit()调用
- *
- */
-void RobotCMDInit();
-
-/**
- * @brief 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率)
- *
- */
-void RobotCMDTask();
-
-#endif //TRONONEH7_SCAFFOLD_DEV_CMD_H
+// /**
+//  * @brief 机器人核心控制任务初始化,会被RobotInit()调用
+//  *
+//  */
+// void RobotCMDInit();
+//
+// /**
+//  * @brief 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率)
+//  *
+//  */
+// void RobotCMDTask();
+//
+// #endif //TRONONEH7_SCAFFOLD_DEV_CMD_H