ESP32 PWM与电机控制

#include <driver/ledc.h>

#define LED_PIN 2  // 使用GPIO2（ESP32开发板上的内置LED）

void setup() {
    // 1. 配置定时器
    ledc_timer_config_t timer_conf = {
        .speed_mode = LEDC_LOW_SPEED_MODE,
        .duty_resolution = LEDC_TIMER_13_BIT,  // 13位分辨率
        .timer_num = LEDC_TIMER_0,
        .freq_hz = 5000,  // 5kHz频率
        .clk_cfg = LEDC_AUTO_CLK
    };
    ledc_timer_config(&timer_conf);
    
    // 2. 配置通道
    ledc_channel_config_t channel_conf = {
        .gpio_num = LED_PIN,
        .speed_mode = LEDC_LOW_SPEED_MODE,
        .channel = LEDC_CHANNEL_0,
        .timer_sel = LEDC_TIMER_0,
        .duty = 0,  // 初始占空比为0
        .hpoint = 0
    };
    ledc_channel_config(&channel_conf);
}

void loop() {
    // 呼吸灯效果 - 渐亮
    for (int duty = 0; duty < 8191; duty += 100) {  // 8191是13位最大值
        ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, duty);
        ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
        delay(10);
    }
    
    // 呼吸灯效果 - 渐暗
    for (int duty = 8191; duty > 0; duty -= 100) {
        ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, duty);
        ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
        delay(10);
    }
}

#include <driver/ledc.h>

#define SERVO_PIN 13  // 舵机信号线连接的GPIO

void setup() {
    // 配置50Hz PWM (舵机标准频率)
    ledc_timer_config_t timer_conf = {
        .speed_mode = LEDC_LOW_SPEED_MODE,
        .duty_resolution = LEDC_TIMER_13_BIT,
        .timer_num = LEDC_TIMER_0,
        .freq_hz = 50,
        .clk_cfg = LEDC_AUTO_CLK
    };
    ledc_timer_config(&timer_conf);
    
    ledc_channel_config_t channel_conf = {
        .gpio_num = SERVO_PIN,
        .speed_mode = LEDC_LOW_SPEED_MODE,
        .channel = LEDC_CHANNEL_0,
        .timer_sel = LEDC_TIMER_0,
        .duty = 0,
        .hpoint = 0
    };
    ledc_channel_config(&channel_conf);
}

// 设置舵机角度 (0-180度)
void setServoAngle(int angle) {
    // 将角度转换为占空比
    // 0.5ms (0度) = 0.5/20 * 8191 = 205
    // 2.5ms (180度) = 2.5/20 * 8191 = 1024
    int duty = map(angle, 0, 180, 205, 1024);
    ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, duty);
    ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
}

void loop() {
    // 舵机从0度转到180度
    for (int angle = 0; angle <= 180; angle += 10) {
        setServoAngle(angle);
        delay(200);
    }
    
    // 舵机从180度转回0度
    for (int angle = 180; angle >= 0; angle -= 10) {
        setServoAngle(angle);
        delay(200);
    }
}

#define ENA 14  // PWM使能引脚
#define IN1 12  // 方向控制1
#define IN2 13  // 方向控制2

void setup() {
    pinMode(IN1, OUTPUT);
    pinMode(IN2, OUTPUT);
    
    // 配置PWM
    ledcSetup(0, 5000, 8);  // 通道0, 5kHz, 8位分辨率
    ledcAttachPin(ENA, 0);
}

// 设置电机速度和方向
void setMotor(int speed, bool direction) {
    // 方向控制
    digitalWrite(IN1, direction);
    digitalWrite(IN2, !direction);
    
    // 速度控制 (0-255)
    ledcWrite(0, abs(speed));
}

void loop() {
    // 正转加速
    for (int speed = 0; speed <= 255; speed += 10) {
        setMotor(speed, true);
        delay(100);
    }
    delay(1000);
    
    // 反转加速
    for (int speed = 0; speed <= 255; speed += 10) {
        setMotor(speed, false);
        delay(100);
    }
    delay(1000);
}