如何实现Atmega2560舵机PWM控制？

846 嵌入式单片机人工智能

问答对人有帮助，内容完整，我也想知道答案 0 如何实现Atmega2560舵机PWM控制？ 0
2022-1-24 06:06:10　　评论淘帖0 邀请回答您可以邀请以下用户，快速回答问题 × heks 该类别下有 20 个回答。邀请回答新星之火12138 该类别下有 18 个回答。邀请回答 wang21cj 该类别下有 17 个回答。邀请回答 hgimtk 该类别下有 16 个回答。邀请回答科源机电该类别下有 15 个回答。邀请回答 liutiefu 该类别下有 15 个回答。邀请回答 kghfh 该类别下有 14 个回答。邀请回答 chm5 该类别下有 13 个回答。邀请回答 dgfdf 该类别下有 13 个回答。邀请回答 723662364d 该类别下有 13 个回答。邀请回答一巷清苑该类别下有 13 个回答。邀请回答早知该类别下有 12 个回答。邀请回答 Ehunt 该类别下有 12 个回答。邀请回答张峰9998 该类别下有 12 个回答。邀请回答 hy381 该类别下有 12 个回答。邀请回答 ggfvxv 该类别下有 12 个回答。邀请回答 YOYOOO 该类别下有 12 个回答。邀请回答 h1654155275.6473 该类别下有 12 个回答。邀请回答 hjhdf 该类别下有 12 个回答。邀请回答 efwedfd 该类别下有 12 个回答。邀请回答举报成尔秩相关推荐 • 关于Atmega2560延时与端口控制你想知道的都在这 1216 • ATMEGA2560的I/O口模拟SPI和25LC1024进行通讯的正确程序 8083 • 求一份AVR系列单片机ATmega2560（Arduino）Bootloader烧录指南 1879 • ATmega2560和ATxmega128系列单片机差别大吗？ 6534 • ATmega2560 bootloader刷写app地址不正确问题 3889 • arduino mega2560 控制DS3115数字舵机不转 14510 • 我写的ATMEGA128的舵机控制程序用不了，可以提供控制一个舵机的控制程序吗 2913 • 仿真 1902 • 在舵机控制上PWM的作用是怎么体现的呢 928 • [求助]atmega1280与atmega2560在程序上有什么区别? 2467 1个回答

答案对人有帮助，有参考价值 0 舵机Servo 示意图舵机控制原理使用芯片：Atmega 2560 晶振： 16MHz 产品： freenove_Carwling_Robot 目标：用16位的四个定时器1，3，4，5分别产生PWM控制12个舵机。由于舵机的控制并不是PWM的硬件连接，所以这里要使用软件中断来控制程序： #include #include #define F_CPU 16000000UL #include // ****************************************************************************** // Interrupt Routines // ****************************************************************************** #define scale 180 #define RF_wrist_def 170182 #define RF_elbow_def 110182 //minus up #define RF_shoulder_def 127182 #define LF_wrist_def 100182 // inc dn #define LF_elbow_def 150182 //inc up #define LF_shoulder_def 130182 //inc cw #define RR_wrist_def 170182 #define RR_elbow_def 110182 #define RR_shoulder_def 90182 void timer_init(void) { // timer1 init TIMSK1= (1< TCCR1B \|= (1 << CS10) ;// turn on 16 bit timer1 also with /1024 TIMSK3= (1< TCCR3B \|= (1 << CS30) ;// turn on 16 bit timer1 also with /1024 } ISR(TIMER1_OVF_vect) { // timer1 overflow PORTA \|= 0b00000111; //PA0 <--> D22 // } ISR(TIMER1_COMPA_vect) { // timer1 match PORTA &= ~0x01; } ISR(TIMER1_COMPB_vect) { PORTA &= ~0x02; } ISR(TIMER1_COMPC_vect) { PORTA &= ~0x04; } void RF_wrist(unsigned char angle) { unsigned int temp = anglescale; OCR1A = temp; } void RF_elbow(unsigned char angle) { unsigned int temp = anglescale; OCR1B = temp; } void RF_shoulder(unsigned char angle) { unsigned int temp = anglescale; OCR1C = temp; } ISR(TIMER3_OVF_vect) { // timer1 overflow PORTC \|= 1<<0; //37<-->PC0 PORTD \|= 1<<7; //38<-->PD7 PORTG \|= 1<<2; //39<-->PG2 } ISR(TIMER3_COMPA_vect) { // timer3 match PORTC &= ~(1<<0); //37<-->PC0 } ISR(TIMER3_COMPB_vect) { PORTD &= ~(1<<7); //38<-->PD7 } ISR(TIMER3_COMPC_vect) { PORTG &= ~(1<<2); //39<-->PG2 } void LF_wrist(unsigned char angle) { unsigned int temp = anglescale; OCR3C = temp; } void LF_elbow(unsigned char angle) { unsigned int temp = anglescale; OCR3B = temp; } void LF_shoulder(unsigned char angle) { unsigned int temp = angle*scale; OCR3A= temp; } unsigned char RF_wrist_cur = 0; unsigned char RF_elbow_cur = 0; unsigned char RF_shoulder_cur = 0; unsigned char LF_wrist_cur = 0; unsigned char LF_elbow_cur = 0; unsigned char LF_shoulder_cur = 0; unsigned char RR_wrist_cur = 0; unsigned char RR_elbow_cur = 0; unsigned char RR_shoulder_cur = 0; unsigned char LR_wrist_cur = 0; unsigned char LR_elbow_cur = 0; unsigned char LR_shoulder_cur = 0; void shape_def(void) { PORTK \|= (1<<7) \| (1<<5); OCR1A = RF_wrist_def; OCR1B = RF_elbow_def; OCR1C = RF_shoulder_def; RF_wrist_cur = RF_wrist_def/scale; RF_elbow_cur = RF_elbow_def/scale; RF_shoulder_cur = RF_shoulder_def/scale; OCR3A = LF_shoulder_def; OCR3B = LF_elbow_def; OCR3C = LF_wrist_def; LF_wrist_cur = LF_wrist_def/scale; LF_elbow_cur = LF_elbow_def/scale; LF_shoulder_cur = LF_shoulder_def/scale; _delay_ms(1000); PORTK &= ~((1<<7) \| (1<<5)); } void Action1(void){ PORTK \|= (1<<7) \| (1<<5); for(unsigned char i=0;i<22;i++) { RF_elbow_cur-=2; RF_elbow(RF_elbow_cur); RF_wrist_cur-=4; RF_wrist(RF_wrist_cur); LF_elbow_cur+=2; LF_elbow(LF_elbow_cur); LF_wrist_cur+=4; LF_wrist(LF_wrist_cur); _delay_ms(40); } for(unsigned char i=0;i<15;i++) { RF_shoulder_cur-=2; RF_shoulder(RF_shoulder_cur); LF_shoulder_cur+=2; LF_shoulder(LF_shoulder_cur); _delay_ms(20); } for (unsigned char j=0;j<3;j++) { for(unsigned char i=0;i<30;i++) { RF_shoulder_cur+=2; RF_shoulder(RF_shoulder_cur); LF_shoulder_cur-=2; LF_shoulder(LF_shoulder_cur); _delay_ms(20); } for(unsigned char i=0;i<30;i++) { RF_shoulder_cur-=2; RF_shoulder(RF_shoulder_cur); LF_shoulder_cur+=2; LF_shoulder(LF_shoulder_cur); _delay_ms(20); } } PORTK &= ~((1<<7) \| (1<<5)); } int main( void ) { DDRA = 0xFF; DDRK = 0xFF; DDRC = 0xFF; DDRD = 0xFF; DDRG = 0xFF; timer_init(); sei(); shape_def(); Action1(); shape_def(); while(true) { } }

2022-1-24 10:47:08 评论举报李子跃