Servo Library

Servo Motor library for stm32 series

Release

• Version : 1.0.0

• Type : Embedded Software

• Support :

  + ARM STM32 Series   

• Program Language : C++

• Properties :

• Changes :

• Required Library/Driver :

Overview

Initialization and de-initialization functions:

void Init(TIM_HandleTypeDef *htim, uint32_t channel, uint16_t minPPMPulseWidth, uint16_t maxPPMPulseWidth, float maxAngle);

Operation functions:

void SetPPMPulseWidth(uint16_t Width);
void SetAngle(float ang);

Macros:

non   

Guide

This library can be used as follows:

1. Add .h and source file in project.

2. Create Servo object and initialize it, for example:

• Mode 1 (constructor):

  • Initializer:

    Servo(TIM_HandleTypeDef *htim, uint32_t channel, uint16_t minPPMPulseWidth, uint16_t maxPPMPulseWidth, float maxAngle);

  • Parameters:

    • htim : pointer to hal timer object
    • channel : PWM channel of pulse pin
    • minPPMPulseWidth : minimum pulse width of pwm signal for servo
    • maxPPMPulseWidth : maximum pulse width of pwm signal for servo
    • maxAngle : maximum supported angle of sevo

  • Example:

    Servo myMotor(&htim1, TIM_CHANNEL_4, 400, 2000, 180.0f);

• Mode 2 (initializer function):

  • Initializer:

    Servo::Init(TIM_HandleTypeDef *htim, uint32_t channel, uint16_t minPPMPulseWidth, uint16_t maxPPMPulseWidth, float maxAngle);

  • Parameters:

    • htim : pointer to hal timer object
    • channel : PWM channel of pulse pin
    • minPPMPulseWidth : minimum pulse width of pwm signal for servo
    • maxPPMPulseWidth : maximum pulse width of pwm signal for servo
    • maxAngle : maximum supported angle of sevo

  • Example:

    Servo myMotor;
    
    myMotor.Init(&htim1, TIM_CHANNEL_4, 400, 2000, 180.0f);

3. Using operation methods, for example:

myMotor.SetAngle(20);
myMotor.SetPPMPulseWidth(400);

Examples

Example 1:

int main()
{
   //Your codes
   Timer_Init(); // Initialize your timer with 1MHz frequency and 10~20ms period
   
   Servo myMotor;
   myMotor.Init(&htim1, TIM_CHANNEL_4, 400, 2000, 180.0f);
   
   while(1)
   {
      if (myMotor.Angle < myMotor.MaxAngle)
      {
         myMotor.SetAngle(myMotor.Angle + 5);
         HAL_Delay(100);
      }
   }
}

Tests performed:

• Run on STM32 Fx cores

Developers:

• Majid Derhambakhsh