Car/Peripheral/Src/servo.c

#include "servo.h"
#include "tim.h"

void SERVO_Init()
{
    __HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_4, 150);
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
}

void SERVO_Rotate(uint8_t degree)
{
    if (degree > 180)
        degree = 180;
    uint16_t compare = 200.0 / 180 * degree + 50;
    __HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_4, compare);
}