如何调节舵机的转速？-世界杯日程表-阿根廷世界杯_克洛泽世界杯16球

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不管是哪个单片机IDE，stm也好，arduino什么的也好，在不借助单片机平台的内置函数情况下（其实我也没找到keil5的），调节舵机转速其实是可以通过算法来实现的，先上代码

double timestep = 0.009;

double a0; double a1; double a2; double a3;double a4; double a5;

double omegaf;double omegai; double acci; double accf;

double tf = 0.8;

double thetai=45; double thetaf=135;

double theta0;double omega0;double acc0;

double t=0;

int i = 0;

for ( t = 0; t <= tf; t +=timestep) { // goes from 0 degrees to 180 degrees

//a0 = 70;a1 = 0;a2 = 30 ;a3 = -10;

thetai=58; thetaf=98;

omegai = 35; omegaf = 125;

acci = 20; accf = 40;

a0 = thetai;

a1 = omegai;

a2 = acci/2;

a3 = (20*thetaf-20*thetai-(8*omegaf+12*omegai)*tf-(3*acci-accf)*(pow(tf,2))) / (2*(pow(tf,3)));

a4 = (30*thetai-30*thetaf+(14*omegaf+16*omegai)*tf+(3*acci-2*accf)*(pow(tf,2))) / (2*(pow(tf,4)));

a5 = (12*thetaf - 12*thetai - (6*omegaf+6*omegai)*tf-(acci-accf)*(pow(tf,2))) / (2*(pow(tf,5)));

theta0 = a0 +a1*t +a2*(pow(t,2))+ a3*(pow(t,3)) + a4*(pow(t,4)) + a5*(pow(t,5));

omega0 = a1 + 2*a2*t + 3*a3*(pow(t,2)) + 4*a4*(pow(t,3)) + 5*a5*(pow(t,4));

acc0 = 2*a2 + 6*a3*t + 12*a4*(pow(t,2)) + 20*a5*(pow(t,3));

//theta0 = (float)theta0;

Servo_Set_Angle(theta0); // tell servo to go to position in variable 'pos'

delay_ms(15); // waits 15 ms for the servo to reach the position

}

for ( t = 0; t <= tf; t +=timestep) { // goes from 0 degrees to 180 degrees

//a0 = 70;a1 = 0;a2 = 30 ;a3 = -10;

thetai=120; thetaf=60;

omegai = 50; omegaf = 40;

acci = 15; accf = 5;