舵机 |
您所在的位置：网站首页 › esp开发板 舵机 杜邦线怎么连电机 › 舵机 |
|
舵机¶
[English] 该组件使用 LEDC 外设产生 PWM 信号，可以实现对最多 16 路舵机的独立控制（ESP32 支持 16 路通道，ESP32-S2 支持 8 路通道），控制频率可选择为 50 ~ 400 Hz。使用该层 API，用户只需要指定舵机所在组、通道和目标角度，即可实现对舵机的角度操作。 舵机内部一般存在一个产生固定周期和脉宽的基准信号，通过与输入 PWM 信号进行比较，获得电压差输出，进而控制电机的转动方向和转动角度。常见的 180 度角旋转舵机一般以 20 ms (50 Hz) 为时钟周期，通过 0.5 ~ 2.5 ms 高电平脉冲，对应控制舵机在 0 ~ 180 度之间转动。 该组件可用于对控制精度要求较低的场景，例如玩具小车、遥控机器人、家庭自动化等。 使用方法¶舵机初始化：使用 servo_init() 对一组通道进行初始化，ESP32 包含 LEDC_LOW_SPEED_MODE 和 LEDC_HIGH_SPEED_MODE 两组通道，有些芯片可能只支持一组。初始化配置项主要包括最大角度、信号频率、最小输入脉宽和最大输入脉宽，用于计算角度和占空比的对应关系；引脚和通道用于分别指定芯片引脚和 LEDC 通道的对应关系； 设置目标角度：使用 servo_write_angle() 通过指定舵机所在组、所在通道和目标角度，对舵机角度进行控制； 读取当前角度：可使用 servo_read_angle() 获取舵机当前角度，需要注意的是该角度是根据输入信号进行推算的理论角度； 舵机去初始化：当一组多个舵机都不再使用时，可使用 servo_deinit() 对一组通道进行去初始化。 应用示例¶ servo_config_t servo_cfg = { .max_angle = 180, .min_width_us = 500, .max_width_us = 2500, .freq = 50, .timer_number = LEDC_TIMER_0, .channels = { .servo_pin = { SERVO_CH0_PIN, SERVO_CH1_PIN, SERVO_CH2_PIN, SERVO_CH3_PIN, SERVO_CH4_PIN, SERVO_CH5_PIN, SERVO_CH6_PIN, SERVO_CH7_PIN, }, .ch = { LEDC_CHANNEL_0, LEDC_CHANNEL_1, LEDC_CHANNEL_2, LEDC_CHANNEL_3, LEDC_CHANNEL_4, LEDC_CHANNEL_5, LEDC_CHANNEL_6, LEDC_CHANNEL_7, }, }, .channel_number = 8, } ; iot_servo_init(LEDC_LOW_SPEED_MODE, &servo_cfg); float angle = 100.0f; // Set angle to 100 degree iot_servo_write_angle(LEDC_LOW_SPEED_MODE, 0, angle); // Get current angle of servo iot_servo_read_angle(LEDC_LOW_SPEED_MODE, 0, &angle); //deinit servo iot_servo_deinit(LEDC_LOW_SPEED_MODE); API 参考¶ Header File¶motor/servo/include/iot_servo.h Functions¶ esp_err_t iot_servo_init(ledc_mode_t speed_mode, const servo_config_t *config)¶Initialize ledc to control the servo. ReturnESP_OK Success ESP_ERR_INVALID_ARG Parameter error ESP_FAIL Configure ledc failed Parametersspeed_mode: Select the LEDC channel group with specified speed mode. Note that not all targets support high speed mode. config: Pointer of servo configure struct esp_err_t iot_servo_deinit(ledc_mode_t speed_mode)¶Deinitialize ledc for servo. ReturnESP_OK Success Parametersspeed_mode: Select the LEDC channel group with specified speed mode. esp_err_t iot_servo_write_angle(ledc_mode_t speed_mode, uint8_t channel, float angle)¶Set the servo motor to a certain angle. NoteThis API is not thread-safe ReturnESP_OK Success ESP_ERR_INVALID_ARG Parameter error Parametersspeed_mode: Select the LEDC channel group with specified speed mode. channel: LEDC channel, select from ledc_channel_t angle: The angle to go esp_err_t iot_servo_read_angle(ledc_mode_t speed_mode, uint8_t channel, float *angle)¶Read current angle of one channel. ReturnESP_OK Success ESP_ERR_INVALID_ARG Parameter error Parametersspeed_mode: Select the LEDC channel group with specified speed mode. channel: LEDC channel, select from ledc_channel_t angle: Current angle of the channel Structures¶ struct servo_channel_t¶Configuration of servo motor channel. Public Members gpio_num_t servo_pin[LEDC_CHANNEL_MAX]¶Pin number of pwm output ledc_channel_t ch[LEDC_CHANNEL_MAX]¶The ledc channel which used struct servo_config_t¶Configuration of servo motor. Public Members uint16_t max_angle¶Servo max angle uint16_t min_width_us¶Pulse width corresponding to minimum angle, which is usually 500us uint16_t max_width_us¶Pulse width corresponding to maximum angle, which is usually 2500us uint32_t freq¶PWM frequency ledc_timer_t timer_number¶Timer number of ledc servo_channel_t channels¶Channels to use uint8_t channel_number¶Total channel number |
| CopyRight 2018-2019 办公设备维修网 版权所有 豫ICP备15022753号-3 |