第一次提交

2026-05-29 17:36:34 +08:00
commit 5b3333125d
1318 changed files with 722705 additions and 0 deletions
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+#ifndef SERVO_MOTOR_H
+#define SERVO_MOTOR_H
+
+#include "main.h"
+#include "tim.h"
+#include <stdint-gcc.h>
+#include "bsp_pwm.h"
+#include "bsp_usart.h"
+
+#define SERVO_MOTOR_CNT 7
+#define Servo_Frame_First 0x55
+#define Servo_Frame_Second 0x55
+#define Servo_MAX_BUFF 10
+#define SERVO_MOVE_CMD 0x03
+#define SERVO_UNLOAD_CMD 0x14
+#define SERVO_POS_READ_CMD 0x15
+typedef enum
+{
+    Servo_None_Type = 0,
+    Bus_Servo = 1,
+    PWM_Servo = 2,
+}ServoType_e;
+
+
+/* 用于初始化不同舵机的结构体,各类舵机通用 */
+typedef struct
+{
+    PWM_Init_Config_s pwm_init_config;
+    ServoType_e servo_type;
+    UART_HandleTypeDef *_handle;
+    uint8_t servo_id;
+}Servo_Init_Config_s;
+typedef struct
+{   
+    uint8_t servo_id;
+    float angle;
+    uint16_t recv_angle;
+    PWMInstance *pwm_instance;
+    USARTInstance *usart_instance;
+    ServoType_e servo_type;
+}ServoInstance;
+
+ServoInstance *ServoInit(Servo_Init_Config_s *Servo_Init_Config);
+void ServoSetAngle(ServoInstance *servo, float angle);
+#endif // SERVO_MOTOR_H