舵机角度转过了，恳请各位帮忙看看，有gif图片

ericzha

用STM32F103VCT6控制舵机出现了下面角度转过了情况，本来钩子在上面，我只是想让它向下转，但是它走了好几个来回再回去，怎么回事？舵机是单独5V供电的。
下面是我的程序：
int main(void)
{       
RCC_Configuration();
delay_init();          
uart_init(115200);
TIM3_PWM4_Init3(0);
while(1);
}


void TIM3_PWM4_Init3(u16 state)//定时器3，通道4，三号舵机 PB1
{  
        GPIO_InitTypeDef GPIO_InitStructure;
        TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
        TIM_OCInitTypeDef  TIM_OCInitStructure;
       
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
        RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB  | RCC_APB2Periph_AFIO, ENABLE);
       
        GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);   


        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
         GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
        GPIO_Init(GPIOB, &GPIO_InitStructure);
        TIM_TimeBaseStructure.TIM_Period = 199;
        TIM_TimeBaseStructure.TIM_Prescaler = 7199;
        TIM_TimeBaseStructure.TIM_ClockDivision = 0;
        TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  
        TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

       
        TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
        TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
        TIM_OCInitStructure.TIM_Pulse = 0;
        TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
        TIM_OC4Init(TIM3, &TIM_OCInitStructure);  
        TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);  
        TIM_Cmd(TIM3, ENABLE);
        if(state == 1)      
        TIM_SetCompare4(TIM3,12);//升
        else
        TIM_SetCompare4(TIM3,20);  //落

//        TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Disable);
//        RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB  | RCC_APB2Periph_AFIO, DISABLE);  
}


void RCC_Configuration(void)
{
        ErrorStatus HSEStartUpStatus;
        RCC_DeInit();
       
        RCC_HSEConfig(RCC_HSE_ON);
       
        HSEStartUpStatus = RCC_WaitForHSEStartUp();
        if(HSEStartUpStatus == SUCCESS)
        {
               
                FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
                FLASH_SetLatency(FLASH_Latency_2);
                RCC_HCLKConfig(RCC_SYSCLK_Div1);
                RCC_PCLK1Config(RCC_HCLK_Div2);
                RCC_PCLK2Config(RCC_HCLK_Div1);
                RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
                RCC_PLLCmd(ENABLE);
                while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)        ;
                RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
                while(RCC_GetSYSCLKSource() != 0x08);       
        }
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOC|RCC_APB2Periph_GPIOD|RCC_APB2Periph_GPIOE|RCC_APB2Periph_AFIO, ENABLE);
}

ericzha

好急啊，各位大神帮帮忙呀，