舵机调试（Servo debugging）.docVIP

舵机调试（Servo debugging） Today, when debugging the steering gear, it is found that frequent modifications of the PWMDTYx are required to allow the actuator to rotate to different angles, such as steering the actuator to zero, testing the angle of the steering wheel at different angles, and so on. If each test must be recompiled, not only a waste of time, but also has influence on the life of the chip, so that the host computer program using VB to write a debugging servo, through the serial communication with the microcontroller, to achieve real-time adjustment of steering gear. I put the written procedures in the attachment, and I hope to give you some help. The angle is converted to high level time Angle -45 045 (anger/ degrees) High level time 100015002000 (t/us) The formula is: T = 1000 + (anger + 45) * (1000 / 90) The PC program can communicate with the microcontroller through the serial port, and change the angle of the steering gear in real time. The protocol is: 0xFE, 0xMM, 0xNN (0xFE for Baotou, 0xMM for PWMDTYx, 8 for high, 0xN for PWMDTYx, 8 for low) In the serial port in three received in second when receiving the save data to temp0, the data is received in the third PWMDTY01= ((unsigned int) temp0 8) RxData PWM | can change the output. The following program is as follows: #include hidef.h common defines and macros / * * / #include MC9S12XS128.h / * derivative * information #pragma LINK_INFO DERIVATIVE MC9S12XS128 Unsigned, char, RX=0, temp0; Void uart_putchar (unsigned, char, CH) { If (CH =\n) { While ((SCI0SR10x80)); SCI0DRL= 0x0d; Return; } While ((SCI0SR10x80)); SCI0DRL=ch; } Static void PWM_Init (void) { //SB, B, for, ch2367 //SA, A, for, ch0145 PWMCTL_CON01=1; //0 and 1 combine into 16 bit PWM; PWMCAE_CAE1=0; / / select output mode is left output mode PWMCNT01 = 0; / / reset counter; PWMPOL_PPOL1=1; / / the first high level output, count to DTY, reversal level PWMPRCLK = 0X40; //clockA does not divide frequency; clockA=busclock=16MHz; CLK B 16 frequenc