#include <stdio.h>
#include <driver/gpio.h>
#include <driver/ledc.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#define pinServo 22
int duty;
void Servo_clockWise() {
/* First configure the timer of the LEDC */
ledc_timer_config_t ledc_timer = {
.speed_mode = LEDC_LOW_SPEED_MODE,
.timer_num = LEDC_TIMER_0,
.duty_resolution = LEDC_TIMER_13_BIT,
.freq_hz = 50,
.clk_cfg = LEDC_AUTO_CLK
};
ledc_timer_config(&ledc_timer);
/* Second configure the channel of the LEDC */
ledc_channel_config_t ledc_channel = {
.speed_mode = LEDC_LOW_SPEED_MODE,
.channel = LEDC_CHANNEL_0,
.timer_sel = LEDC_TIMER_0,
.intr_type = LEDC_INTR_DISABLE,
.gpio_num = pinServo,
.duty = 0,
.hpoint = 0
};
ledc_channel_config(&ledc_channel);
/* Finally, set and update the duty of the LEDC */
for (int i = 200; i <= 1000; i += 50)
{
duty = i;
printf(" duty -> %d\n", duty);
ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, duty);
ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
vTaskDelay( 1000 / portTICK_PERIOD_MS );
ledc_stop(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, 0);
}
}
// Repeat in the inverse direction of the LEDC duty
void servo_Anti_clockWise() {
ledc_timer_config_t ledc_timer = {
.speed_mode = LEDC_LOW_SPEED_MODE,
.timer_num = LEDC_TIMER_0,
.duty_resolution = LEDC_TIMER_13_BIT,
.freq_hz = 50,
.clk_cfg = LEDC_AUTO_CLK
};
ledc_timer_config(&ledc_timer);
ledc_channel_config_t ledc_channel = {
.speed_mode = LEDC_LOW_SPEED_MODE,
.channel = LEDC_CHANNEL_0,
.timer_sel = LEDC_TIMER_0,
.intr_type = LEDC_INTR_DISABLE,
.gpio_num = pinServo,
.duty = 0,
.hpoint = 0
};
ledc_channel_config(&ledc_channel);
for (int i = 950; i >= 250; i -= 50)
{
duty = i;
printf(" duty -> %d\n", duty);
ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, duty);
ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
vTaskDelay( 1000 / portTICK_PERIOD_MS );
ledc_stop(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, 0);
}
}
void Servo_control()
{
Servo_clockWise();
servo_Anti_clockWise();
}
void app_main(void)
{
printf("Tutorial : LEDC&Servo Motor\n");
while (1) {
Servo_control();
}
}