Diff: main.cpp

Revision:

0:2e707e50fd73

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 24 06:39:03 2019 +0000
@@ -0,0 +1,40 @@
+
+#include"PCA9685.h"
+#include"mbed.h"
+
+
+
+PCA9685 pwm(PB_7,PB_6);//设置SDA与SCL连接的引脚
+ 
+void setServoPulse(uint8_t n, float pulse) {    //n为通道,pulse为下降沿位置
+    pwm.setPWM(n, 0, pulse);//如果希望调整上升沿位置,可在main函数中可直接使用pwm.setPWM函数
+}
+ 
+void initServoDriver() {//整体初始化
+    pwm.begin();
+    pwm.setPrescale(121);     // 设置20ms用于通用伺服
+    pwm.frequencyI2C(400000); //400kHz 快速I2C通信
+}
+ 
+int main() {
+
+    while(1){
+    initServoDriver();
+    setServoPulse(0, 308); //运动试验
+    setServoPulse(1, 495); //运动试验    
+    wait(1);
+    setServoPulse(0, 135); 
+    setServoPulse(1, 308); 
+    wait(1);
+    setServoPulse(1, 135); 
+    setServoPulse(0, 509); 
+    wait(1);           
+    for (int mov = 495; mov > 135; mov--){
+    setServoPulse(1, mov);
+    wait(0.003);}
+    for (int mov = 115; mov < 509; mov++){
+    setServoPulse(0, mov);
+    wait(0.003);    
+    }           
+    }
+}
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