Fourth, the working principle of the steering gear
The pwm wave enters the internal circuit to generate a bias voltage, which triggers the motor to move the potentiometer through the reduction gear, so that when the voltage difference is zero, the motor stops, thereby achieving the servo effect.
The servos of the servos are the same, but the latest servos may be different.
The protocol is generally: the high-level width is 0.5ms~2.5ms, and the steering gear is rotated through different angles.
Find relevant servo files for different models
analysis:
Here, the futabas3003 servo with a working frequency of 50HZ, that is, a period of 20MS, and 51 single-chip microcomputers are used as the main control chip for detailed program analysis:
As can be seen from the above figure: pulses of different widths can produce different angle outputs. PWM and wave can be generated by timer and IO port simulation. The angle control can be achieved by timing the duty cycle. Theoretically, 51 can generate us-level pulses. , 180/2000us=0.09, can achieve an accuracy of about 0.1.
