舵机是机器人、机电系统和航模的重要执行机构。舵机控制器为舵机提供必要的能源和控制信号。本文提出一种以外部中断计数为基础的PWM波形实现方法。该方法具有简单方便，成本低，可实现多路独立PWM输出的优点-Servo robot, mechanical and electrical systems and model aircraft executing agency. Servo controller for the steering gear to provide the necessary energy and control signals. This paper presents a PWM waveform based on the external interrupt count realization method. The method is simple and convenient, low cost, multi-channel independent PWM outputs advantages