kopia lustrzana https://github.com/espressif/esp-idf
48 wiersze
2.0 KiB
C
48 wiersze
2.0 KiB
C
/* Servo Motor control example
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This example code is in the Public Domain (or CC0 licensed, at your option.)
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Unless required by applicable law or agreed to in writing, this
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software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
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CONDITIONS OF ANY KIND, either express or implied.
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*/
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_log.h"
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#include "driver/mcpwm.h"
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static const char *TAG = "example";
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// You can get these value from the datasheet of servo you use, in general pulse width varies between 1000 to 2000 mocrosecond
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#define SERVO_MIN_PULSEWIDTH_US (1000) // Minimum pulse width in microsecond
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#define SERVO_MAX_PULSEWIDTH_US (2000) // Maximum pulse width in microsecond
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#define SERVO_MAX_DEGREE (90) // Maximum angle in degree upto which servo can rotate
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#define SERVO_PULSE_GPIO (18) // GPIO connects to the PWM signal line
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static inline uint32_t example_convert_servo_angle_to_duty_us(int angle)
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{
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return (angle + SERVO_MAX_DEGREE) * (SERVO_MAX_PULSEWIDTH_US - SERVO_MIN_PULSEWIDTH_US) / (2 * SERVO_MAX_DEGREE) + SERVO_MIN_PULSEWIDTH_US;
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}
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void app_main(void)
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{
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mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, SERVO_PULSE_GPIO); // To drive a RC servo, one MCPWM generator is enough
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mcpwm_config_t pwm_config = {
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.frequency = 50, // frequency = 50Hz, i.e. for every servo motor time period should be 20ms
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.cmpr_a = 0, // duty cycle of PWMxA = 0
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.counter_mode = MCPWM_UP_COUNTER,
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.duty_mode = MCPWM_DUTY_MODE_0,
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};
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mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config);
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while (1) {
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for (int angle = -SERVO_MAX_DEGREE; angle < SERVO_MAX_DEGREE; angle++) {
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ESP_LOGI(TAG, "Angle of rotation: %d", angle);
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ESP_ERROR_CHECK(mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, example_convert_servo_angle_to_duty_us(angle)));
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vTaskDelay(pdMS_TO_TICKS(100)); //Add delay, since it takes time for servo to rotate, generally 100ms/60degree rotation under 5V power supply
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}
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}
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}
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