arduino用定时器控制舵机

神奇树叶 · 发表于 2019-9-28 19:28:07

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include <MsTimer2.h>

int i;
int servopin=8;
int count_p1;

int myangle;//定义角度变量
int pulsewidth;//定义脉宽变量
void setup()
{
  pinMode(servopin,OUTPUT);
  MsTimer2::set(10,Servo_around);
  MsTimer2::start();
}
void loop()
{
}
void servpulse(int servopin,int myangle)
{
  for(int i=0;i<=5;i++)
  {
pulsewidth=(myangle*11)+500;
digitalWrite(servopin,HIGH);
delayMicroseconds(pulsewidth);
digitalWrite(servopin,LOW);
delay(20-pulsewidth/1000);
  }
}
void D_1()
{
count_p1++;
if(count_p1>=120)
{
   count_p1=120;
   i++;
}
}
void D_2()
{
count_p1--;
if(count_p1<=60)
{
   count_p1=60;
   i=0;
}
}
void Servo_around()
{
switch(i)
{
   case 0:servpulse(servopin,count_p1);D_1();break;
   case 1:servpulse(servopin,count_p1);D_2();break;
            default:break;
}
}