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# PWM_Servo
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- 舵机通过PWM控制，PWM周期固定20ms（50Hz），脉冲宽度在0.5ms-2.5ms（2.5%-12.5%）之间，对应最小-最大角度
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- 接线：用3P杜邦线，连接开发板和舵机，舵机棕色线对应GND
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- 需要打开外部晶振，将SYSCLK配置到72MHz，APB timer clocks也配置到72MHz
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- 给PB8配置TIM4_CH3
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- 进入Timers - TIM4
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- 勾选Internal Clock
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- Channel3配置PWM Generation CH3
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- Prescaler配置为720-1，Counter Period配置为2000-1，这样PWM频率就是50Hz
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- PWM Generation Channel3 - Pulse配置为150（即占空比7.5%）
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> 占空比 = 此数值 / Counter Period
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- HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3) 启动PWM输出
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- __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 250) 可以改变占空比
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