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四足机器人外观和结构

这里写图片描述
前进代码

/* USER CODE BEGIN 2 */
printf("INIT begin\n");
PCA9685_Go();
SetPWMFreq(50);
printf("INIT\n");
SetPWM(0, 0, SERVO045);
SetPWM(1, 0, SERVO135);
SetPWM(2, 0, SERVOMIN);
SetPWM(3, 0, SERVOMAX);

        SetPWM(4, 0, SERVOMAX);
        SetPWM(5, 0, SERVOMAX);
        SetPWM(6, 0, SERVOMIN);
        SetPWM(7, 0, SERVOMIN);
        HAL_Delay(1000);

/* USER CODE END 2 */

/* Infinite loop / / USER CODE BEGIN WHILE / while (1) { / USER CODE END WHILE */

/* USER CODE BEGIN 3 */
SetPWM(7, 0, SERVO090);
SetPWM(0, 0, SERVOMIN);
SetPWM(3, 0, SERVO135);
SetPWM(5, 0, SERVO090);
SetPWM(1, 0, SERVOMAX);
SetPWM(2, 0, SERVO045);
HAL_Delay(1000);
SetPWM(7, 0, SERVOMIN);
SetPWM(5, 0, SERVOMAX);
HAL_Delay(1000);

        SetPWM(4, 0, SERVO045);
        SetPWM(0, 0, SERVO045);
        SetPWM(3, 0, SERVOMAX);
        SetPWM(6, 0, SERVO045);
        SetPWM(2, 0, SERVOMIN);
        SetPWM(1, 0, SERVO135);
        HAL_Delay(1000);
        SetPWM(4, 0, SERVOMAX);
        SetPWM(6, 0, SERVOMIN);
        HAL_Delay(1000);

}
/* USER CODE END 3 */
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版权声明：本文为CSDN博主「南方划水的banana」的原创文章，遵循CC 4.0 BY-SA版权协议，转载请附上原文出处链接及本声明。
原文链接：https://blog.csdn.net/superce/article/details/79248623

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