Due to misjudgment of the pins, the actual work only had three degrees of freedom. The PCB project file has been corrected. P100, P500, and P400 output three-channel adjustable PWM to control the three-degree-of-freedom movement of the robotic arm. The three-channel ADC sampling changes the duty cycle of the PWM by judging the voltage value to make the servo move. This work is the author's first DIY design and there are still many shortcomings. The code has many non-standard places. The code project is as follows (for reference only).
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