cyy/origincar_controller
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修正默认偏转角

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cyy_mac
2026-08-07 20:13:49 +08:00
parent 78d155c7b6
commit 576784bb4d
5 changed files with 13 additions and 7 deletions
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2
HARDWARE/motor.h
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@@ -49,7 +49,7 @@
#define EN PDin(3)
#define Servo_PWM TIM12->CCR2
#define SERVO_INIT 1600 //Servo zero point //¶æ»úÁãµã
#define SERVO_INIT 1590 //Servo zero point //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void Enable_Pin(void);
void Servo_PWM_Init(u16 arr,u16 psc);

7
HARDWARE/timer.c
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@@ -465,10 +465,9 @@ void TIM12_SERVO_Init(u16 arr,u16 psc)
//Enable timer //使能定时器
TIM_Cmd(TIM12, ENABLE);
//The channel value is initialized to 1500, corresponding to the steering gear zero
//通道值初始化为1500，舵机零点对应值
TIM12->CCR2=1500;
TIM12->CCR1=1500;
//Initialize both servo channels to the configured steering center.
TIM12->CCR2=SERVO_INIT;
TIM12->CCR1=SERVO_INIT;
}