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AVR 舵机驱动程序

2011-04-04 22:12:13| 分类：默认分类 | 标签： |举报 |字号大中小订阅

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//几年前曾发过一个关于舵机的驱动程序貌似看的人很多

//为了更好的和大家交流我把最近在AVR ATmega128上写的舵机驱动程序晒晒请大家多多指教

/*==============================================================================
    功能：舵机驱动程序
注意事项：
提示说明：PE3-OC3A PE4-OC3B PE5-OC3C
          OC3A: 50Hz OC3B: OC3C:
==============================================================================*/
#include <iom128.h>
#include <ina90.h>
/***************************************************************************
* 函数功能：Timer3_init函数*
* 入口参数：
* 出口参数：
***************************************************************************/
void Timer3_init(void)
{
PORTE |=0x38;//PE3-5 out
DDRE   |=0x38;
//T3
TCCR3A |= 0xa8;   //A B C 都是相位修正及相频修正PWM模式升序记数时比较匹配将清零
TCCR3B |= 0x13;   //N=64分频
TCCR3C=0x00;
ICR3=1152;     //f=fclk/(2*N*TOP)=50Hz(20ms),TOP=ICR1,fclk=7.3728M.
TCNT3=0x0000;
OCR3A=0x0000;
OCR3B=0x0000;
OCR3C=0x0000;
}
/***************************************************************************
* 函数功能：PWM_change函数*
* 入口参数：OCR3x,舵机ID；value 角度值，0-180/10 步长为10度
* 提示说明：value值的bit6-7都为1，作为命令标识
***************************************************************************/
void PWM3_change(unsigned int OCR3x,unsigned char value)
{
//if((value & 0xc0)==0xc0)//判断是否是舵机控制命令
//{
    //value=(value-0xc0)*10;
    switch(OCR3x)
    {
    case 0x01:OCR3A=value*58/90+29;//修改A舵机角度值
           break;
    case 0x02:OCR3B=value*58/90+29;//修改B舵机角度值
    break;
    case 0x03:OCR3C=value*58/90+29;//修改C舵机角度值
           break;
    case 0x04:OCR3A=value*58/90+29;//修改A和B舵机角度值
           OCR3B=value*58/90+29;
           break;
    case 0x05:OCR3A=value*58/90+29;//修改A B和C舵机角度值
           OCR3B=value*58/90+29;
           OCR3C=value*58/90+29;
           break;
    default: break;
    }
//}
}

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              blogAbstract:'<P\>//几年前曾发过一个关于舵机的驱动程序 貌似看的人很多 </P\>  <P\>//为了更好的和大家交流 我把最近在AVR ATmega128上写的舵机驱动程序晒晒 请大家多多指教</P\>  <P\><WBR\></P\>  <DIV\><IMG title=\"AVR 舵机驱动程序 - Jeary - 谦杰\" alt=\"AVR 舵机驱动程序 - Jeary - 谦杰\" style=\"MARGIN: 0px 10px 0px 0px;\" src=\"http://img161.ph.126.net/iQgVX2kPE4NtP8uILOCeMA==/1446218430341430125.jpg\"\></DIV\>  <P\> </P\>  <P\>/*==============================================================================<BR\>    功能：舵机驱动程序<BR\>注意事项：<BR\>提示说明：PE3-OC3A PE4-OC3B PE5-OC3C<BR\>          OC3A: 50Hz  OC3B: OC3C:  <BR\>========================</P\>',
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