ESP32_PWM驱动SG90舵机

#include <stdio.h>
#include <sdkconfig.h>
#include <driver/ledc.h>
#include <driver/gpio.h>
#include <esp_log.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>

#define LED_IO 2    //pwm1引脚
#define LED_IO2 4   //pwm2引脚
#define LEDC_MAX_DUTY (1023) //最大占空比，2的13次方
#define LEDC_FADE_TIME 300 //渐变时间

ledc_channel_config_t ledc_con; //声明结构体函数
void ledc_init(void)
{
 //设置LED定时器
 ledc_timer_config_t ledc_timer =
 {
     .duty_resolution = LEDC_TIMER_10_BIT, //设置PWM分辨率
     .freq_hz         = 50 , //设置频率
     .speed_mode     = LEDC_HIGH_SPEED_MODE,//设置为高速模式
     .timer_num       = LEDC_TIMER_0,//选择定时器
 };
 //启动定时器的PWM模式
 ledc_timer_config(&ledc_timer);
 //LED 灯结构体配置
     ledc_con.channel = LEDC_CHANNEL_0;//pwm通道
     ledc_con.duty    = 0;//占空比
     ledc_con.gpio_num = LED_IO; //选择IO口
     ledc_con.speed_mode = LEDC_HIGH_SPEED_MODE; //选择高速通道
     ledc_con.timer_sel = LEDC_TIMER_0;      //选择定时器

 ledc_channel_config(&ledc_con);
    //安装LED渐变
    ledc_fade_func_install(0);
    //初始化给舵机默认位置为0度
    ledc_set_duty_and_update(LEDC_HIGH_SPEED_MODE,LEDC_CHANNEL_0,77,0);
    vTaskDelay(LEDC_FADE_TIME / portTICK_PERIOD_MS);
}

void app_main(void)
{
 //选择IO口
 esp_rom_gpio_pad_select_gpio(LED_IO);
 esp_rom_gpio_pad_select_gpio(LED_IO2);
 //设置IO口
 gpio_set_direction(LED_IO,GPIO_MODE_OUTPUT);
  gpio_set_direction(LED_IO2,GPIO_MODE_OUTPUT);
  gpio_set_level(LED_IO2,1);

 //定时器、LED灯初始化
 ledc_init();
 while (1)
 {
     //逆时针旋转45度
     ledc_set_duty_and_update(LEDC_HIGH_SPEED_MODE,LEDC_CHANNEL_0,51,0);
     vTaskDelay(LEDC_FADE_TIME / portTICK_PERIOD_MS);

     //顺时针时针旋转45度
     ledc_set_duty_and_update(LEDC_HIGH_SPEED_MODE,LEDC_CHANNEL_0,102,0);
     vTaskDelay(LEDC_FADE_TIME / portTICK_PERIOD_MS);
 }  
}