如何用stc單片機讀取陀螺儀的角度信息，并將其轉化為四路PWM信號的值

ID:537851 · 發表于 2019-5-16 21:05

這是我用PWM信號控制四路舵機的部分程序，現在我想用一個陀螺儀MPU6050檢測物體的傾斜角度，將信息傳至單片機，然后根據此信息生成四路PWM信號，控制舵機使物體保持水平，求程序的設計大致思路！！！！有電路連接圖更好！！！想通過自己的能力寫出來

void Pwm(bit f){
  if(f){
Timer0Init();
CCON = 0;                      //Initial PCA control register
                                 //PCA timer stop running
                                 //Clear CF flag
                                 //Clear all module interrupt flag
CL = 0;                      //Reset PCA base timer
CH = 0;
CMOD = 0x04;                   //Set PCA timer clock source as timer0 overflow.
                                 //Disable PCA timer overflow interrupt
CCAP0H = CCAP0L = 25.6;       //PWM0 port output 50% duty cycle square wave
CCAPM0 = 0x42;                //PCA module-0 work in 8-bit PWM mode and no PCA interrupt

CCAP1H = CCAP1L = 6.5;       //PWM1 port output 0% duty cycle square wave

CCAPM1 = 0x42;                //PCA module-1 work in 8-bit PWM mode and no PCA interrupt

CCAP2H = CCAP2L = 12.8;       //PWM2 port output 100% duty cycle square wave
CCAPM2 = 0x42;                //PCA module-2 work in 8-bit PWM mode and no PCA interrupt

      CCAP3H = CCAP3L = 25.6;       //PWM3 port output 75% duty cycle square wave
CCAPM3 = 0x42;                //PCA module-3 work in 8-bit PWM mode and no PCA interrupt



CR = 1;                      //PCA timer start run
  }