舵机测试完成

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "*.tcc": "cpp"
+    }
+}

include/servo.h

@@ -0,0 +1,2 @@
+void servo_init();
+void servo_loop();

platformio.ini

@@ -8,7 +8,9 @@
 ; Please visit documentation for the other options and examples
 ; https://docs.platformio.org/page/projectconf.html
 
-[env:esp_wroom_02]
-platform = espressif8266
-board = esp_wroom_02
+[env:esp32doit-devkit-v1]
+platform = espressif32
+board = esp32doit-devkit-v1
 framework = arduino
+lib_deps = madhephaestus/ESP32Servo@^0.12.0
+monitor_speed = 115200

src/main.cpp

@@ -1,9 +1,12 @@
 #include <Arduino.h>
+#include <servo.h>
 
 void setup() {
-  // put your setup code here, to run once:
+  Serial.begin(115200);
+  servo_init();
 }
 
 void loop() {
-  // put your main code here, to run repeatedly:
+  servo_loop();
+  delay(1000);
 }

src/servo.cpp

@@ -0,0 +1,45 @@
+#include <Arduino.h>
+#include <ESP32Servo.h>
+
+Servo servo[8];
+ESP32PWM pwm;
+
+int servoPin[8] = {13,12,14,26,25,33,32,15};
+
+int minUs = 500;
+int maxUs = 2500;
+
+int pos = 0;
+
+void servo_init() {
+  for (int i = 0; i < 8; i++) {
+    ESP32PWM::allocateTimer(i);
+    servo[i].setPeriodHertz(50);
+  }
+}
+
+void servo_loop() {
+  for (int i = 0; i < 8; i++) {
+    servo[i].attach(servoPin[i], minUs, maxUs);
+  }
+  pwm.attachPin(27, 10000);
+
+//   for (int j = 0; j < 8; j++) {
+//     for (pos = 0; pos <= 180; pos += 1) {
+//       servo[j].write(pos);
+//       Serial.println(pos);
+//       delay(5);
+//     }
+//     for (pos = 0; pos <= 180; pos += 1) {
+//       servo[j].write(180 - pos);
+//       Serial.println(180 - pos);
+//       delay(5);
+//     }
+//   }
+
+  for (int i = 0; i < 8; i++) {
+    servo[i].detach();
+  }
+  pwm.detachPin(27);
+  delay(500);
+}