本实验将实现如下功能：通过定时器的输出比较模式，在PC6~PC9，输出4路PWM，每路PWM频率为500Hz，占空比为50%，每一路PWM相位差为45°(This experiment will realize the following functions: through the timer output comparison mode, in PC6~PC9, output 4 way PWM, each PWM frequency is 500Hz, duty cycle is 50%,

STM32+L298N驱动四路电机。可以使用定时器中断来实时监测电机的速度以及位置，通过PID算法来精确控制电机的速度和位置(STM32 + L298N drives four-way motors. Timer interruption can be used to monitor the speed and position of the motor in real time, and PID algorithm can accurately control the speed and po