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PWM_Servo

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
接线：用3P杜邦线，连接开发板和舵机，舵机棕色线对应GND
需要打开外部晶振，将SYSCLK配置到72MHz，APB timer clocks也配置到72MHz
给PB8配置TIM4_CH3
进入Timers - TIM4
- 勾选Internal Clock
- Channel3配置PWM Generation CH3
- Prescaler配置为720-1，Counter Period配置为2000-1，这样PWM频率就是50Hz
- PWM Generation Channel3 - Pulse配置为150（即占空比7.5%）
  
  占空比 = 此数值 / Counter Period
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3) 启动PWM输出
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 250) 可以改变占空比