72 lines
2.4 KiB
C
72 lines
2.4 KiB
C
#include <stdio.h>
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#include <math.h>
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#include "driver/ledc.h"
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#include "esp_err.h"
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#include "esp_log.h"
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#include "servo.h"
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static const char *TAG = "servo";
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#define LEDC_TIMER LEDC_TIMER_0
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#define LEDC_MODE LEDC_LOW_SPEED_MODE
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#define LEDC_OUTPUT_IO (12) // Define the output GPIO
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#define LEDC_CHANNEL LEDC_CHANNEL_0
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#define LEDC_DUTY_RES LEDC_TIMER_13_BIT // Set duty resolution to 13 bits
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#define LEDC_DUTY (4095) // Set duty to 50%. ((2 ** 13) - 1) * 50% = 4095
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#define LEDC_FREQUENCY (50) // Frequency in Hertz. Set frequency at 5 kHz
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#define ANGLE_SET_DIV (10.0)
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void servo_ledc_init(void)
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{
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// Prepare and then apply the LEDC PWM timer configuration
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ledc_timer_config_t ledc_timer = {
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.speed_mode = LEDC_MODE,
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.timer_num = LEDC_TIMER,
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.duty_resolution = LEDC_DUTY_RES,
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.freq_hz = LEDC_FREQUENCY, // Set output frequency at 5 kHz
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.clk_cfg = LEDC_AUTO_CLK
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};
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ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));
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// Prepare and then apply the LEDC PWM channel configuration
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ledc_channel_config_t ledc_channel = {
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.speed_mode = LEDC_MODE,
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.channel = LEDC_CHANNEL,
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.timer_sel = LEDC_TIMER,
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.intr_type = LEDC_INTR_DISABLE,
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.gpio_num = LEDC_OUTPUT_IO,
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.duty = 0, // Set duty to 0%
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.hpoint = 0
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};
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ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel));
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}
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/* 设置角度，正负90度，左负右正 */
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void servo_set_angle(float angle)
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{
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static double duty_pre_ms = pow(2, 13) / 20.0;
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static double duty_pre_angle =((2.5-0.5) / 180.0) * pow(2, 13) / 20.0;
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static double duty_zero_offset = 0.5 * pow(2, 13) / 20.0;
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static float angle_real = 0; /* 舵机逐渐变化，每次只加固定度数，逼近设置度数 */
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angle_real += (angle - angle_real) / ANGLE_SET_DIV;
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if (angle - angle_real < 5 || angle - angle_real > -5) angle_real = angle;
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angle = angle_real;
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if (angle > 45 || angle < -45)
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{
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ESP_LOGE("PWM", "Angle out of range");
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return;
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}
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angle += 90; // 将角度转换为0-180度
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double duty = angle * duty_pre_angle + duty_zero_offset;
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ESP_LOGI("PWM", "angle: %f, duty: %f", angle, duty);
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ESP_ERROR_CHECK(ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty));
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ESP_ERROR_CHECK(ledc_update_duty(LEDC_MODE, LEDC_CHANNEL));
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}
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