求助也算分享 舵机锁相环PWM问题

xcl521

<><FONT color=#2222dd size=3>以下是一个控制舵机的小程序，可舵机总是打到一边，硬件肯定没有问题，</FONT></P><P><FONT color=#2222dd size=3>我琢磨了数日都找不出原因，希望坛友帮帮忙，在下感激不尽！！！！</FONT></P><P><FONT color=#2222dd size=3></FONT>&nbsp;</P><P><FONT color=#2222dd size=3>#include &lt;hidef.h&gt;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; /* common defines and macros */<BR>#include &lt;mc9s12dg128.h&gt;&nbsp;&nbsp;&nbsp;&nbsp; /* derivative information */<BR>#pragma LINK_INFO DERIVATIVE "mc9s12dg128b"</FONT></P><P><FONT color=#2222dd size=3></FONT>&nbsp;</P><P><FONT color=#2222dd size=3>void main(void) {<BR>&#92;<BR>&nbsp;<BR>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CLKSEL=0x00;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; //时钟选择寄存器 关闭锁相环,选定外部时钟<BR>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; CLKSEL_PLLSEL = 0; <BR>&nbsp;&nbsp;&nbsp; PLLCTL_PLLON = 0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; //锁相环电路禁止<BR>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; SYNR=2;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <BR>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; REFDV=3;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; //BUS_CLK=2*16*(SYNR+1)/(REFDV+1)=24MHz;<BR>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PLLCTL=192;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; //PLL控制寄存器 &nbsp;&nbsp; <BR>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PLLCTL_PLLON = 1;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; //锁相环电路使能&nbsp;&nbsp; bit6<BR>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; while(!CRGFLG_LOCK);&nbsp;&nbsp;&nbsp;&nbsp; //等待锁相环时钟达到预期值&nbsp; bit3<BR>&nbsp; &nbsp;&nbsp; CLKSEL_PLLSEL = 1;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; //开启锁相环&nbsp; */<BR>&nbsp; &nbsp;&nbsp; <BR>&nbsp;&nbsp;&nbsp; &nbsp;PWME = 0x00; /*01:50Hz 45:1kHz */ </FONT></P><P><FONT color=#2222dd size=3>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PWMPOL = 0x22; </FONT></P><P><FONT color=#2222dd size=3>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PWMCTL = 0x50; </FONT></P><P><FONT color=#2222dd size=3>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PWMCLK = 0x02; </FONT></P><P><FONT color=#2222dd size=3>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PWMSCLA = 4; <BR>&nbsp;&nbsp;&nbsp; <BR>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PWMPER01 = 60000; /* Center 1500ms*3 */ </FONT></P><P><FONT color=#2222dd size=3>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; PWMDTY01 = 4500; /* 设置舵机角度 */ <BR>&nbsp;&nbsp;&nbsp;&nbsp; &nbsp;PWME = 0x22; /*01:50Hz 45:1kHz */ <BR>&nbsp; for(;;) {} /* wait forever */<BR>&nbsp; /* please make sure that you never leave this function */<BR></FONT></P>

superyongzhe

可能是占空比整体偏大或者偏小！

xcl521

不是啊&nbsp; 正好是应该打到中间的&nbsp;&nbsp; 1.5ms/20ms

czh762217

<>没有预分频</P>

haitao178

<>我的也是啊，预分频了；占空比，周期和计算结果不一样；</P><P>不知道为什么，楼主太好了留个言</P><P>我也瞧瞧</P>

superyongzhe

<>还有就是你舵机在安装的时候，根本就没有安装到中心位置。你先把传动杆卸下来，通过程序把舵机跳到中心位置后再安装传动杆。</P>