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https://gitee.com/dlmu-cone/tronone-h7-scaffold
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41 lines
1.1 KiB
C
41 lines
1.1 KiB
C
/**
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* @file mg996.c
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* @author TuxMonkey (https://github.com/TuxMonkey)
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* @brief MG996 servo motor driver (MG996舵机驱动)
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* @version 1.0
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* @date 2024-06-10
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**/
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#include <stdlib.h>
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#include <string.h>
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#include "mg996.h"
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#include "bsp_pwm.h"
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MG996Instance *MG996Register(MG996_Init_Config_s *config)
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{
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MG996Instance *mg996 = (MG996Instance *) malloc(sizeof(MG996Instance));
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memset(mg996, 0, sizeof(MG996Instance));
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mg996->pwm = PWMRegister(config->pwm_config);
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mg996->min_dutyratio = config->min_dutyratio;
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mg996->max_dutyratio = config->max_dutyratio;
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mg996->min_angle = config->min_angle;
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mg996->max_angle = config->max_angle;
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return mg996;
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}
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void MG996SetAngle(MG996Instance *mg996, float angle)
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{
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if (angle < mg996->min_angle)
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angle = mg996->min_angle;
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else if (angle > mg996->max_angle)
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angle = mg996->max_angle;
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auto ratio = (angle - mg996->min_angle) / (mg996->max_angle - mg996->min_angle);
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auto dutyratio = mg996->min_dutyratio + ratio * (mg996->max_dutyratio - mg996->min_dutyratio);
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PWMSetDutyRatio(mg996->pwm, dutyratio);
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}
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