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servo init

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TuxMonkey
2025-12-24 14:11:50 +08:00
parent f92289346d
commit 2ea642d04a
4 changed files with 648 additions and 552 deletions
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41
User_Code/module/periph/servo/mg996/mg996.c
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@@ -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);
}