1 - 香橙派硬件PWM控制sg90舵机

1 pinMode(int pin, int Mode); // 设置引脚为pwm输出，参数Mode为PWM_OUTPUT
2 pwmSetClock(int pin,int divisor); // 参数divisor为div
3 pwmSetRange(int pin,unsigned int range); // 参数range为arr
4 pwmWrite(int pin, int value); // 参数value为ccr

频率 = 24000000 / (arr * div);
占空比 = ccr / arr;

1 #include "wiringPi.h"
2 #include <stdio.h>
3 #define PWM_pin 21 
4 //香橙派3B的硬件PWM输出引脚为wpi编号下的2和21号引脚，这里使用21号引脚
5 int main()
6 {
7     int div = 8;
8     int arr = 60000;
9     int ccr = 3000;
10    //频率= 24000000 / (60000 * 8) = 50Hz   sg90舵机要50Hz才能正常驱动
11    if (wiringPiSetup() == -1) {printf("初始化失败惹＞︿＜");}
12    pinMode(PWM_pin, PWM_OUTPUT);
13    while (1)
14    {
15        pwmSetClock(PWM_pin, div);
16        pwmSetRange(PWM_pin, arr);
17        pwmWrite(PWM_pin, ccr);
18        //占空比duty = ccr / arr = 5.0% 对应45度位置   
19    }
20 }

orangepi@orangepi3b:my-project/ $ gcc main.c -o test1 -lwiringPi

orangepi@orangepi3b:my-project/ $ sudo ./test1

 1 import wiringpi as pi
 2 from wiringpi import GPIO
 3 
 4 PWM_PIN = 21
 5 div = 8
 6 arr = 60000
 7 ccr = 4500
 8 if pi.wiringPiSetup() == -1:
 9     print("初始化失败惹＞︿＜")
10 pi.pinMode(PWM_PIN,GPIO.PWM_OUTPUT)
11 while True:
12     pi.pwmSetClock(PWM_PIN, div)
13     pi.pwmSetRange(PWM_PIN, arr)
14     pi.pwmWrite(PWM_PIN, ccr) # duty = 7.5% 对应 90度

   python3 main.py