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標題: 基于單片機的設計45例仿真圖+C語言程序 [打印本頁]

作者: 馮均杰11    時間: 2020-5-8 19:43
標題: 基于單片機的設計45例仿真圖+C語言程序
機器人源程序
  1. #include "reg51.h"
  2. #include "intrins.H"
  3. //8步式步進電機脈沖序列
  4. //unsigned char steps[8] = {0x77,0x33,0xbb,0x99,0xdd,0xcc,0xee,0x66};
  5. unsigned char steps[8] = {0x2,0x6,0x4,0xc,0x8,0x9,0x1,0x3};
  6. //當前各電機在上述序列中的位置
  7. unsigned char cur_step[8] = {0,0,0,0,0,0,0,0};
  8. //這個文件用于記錄舞步信息序列
  9. char speed_tickers[8] = {0,0,0,0,0,0,0,0};
  10. //從上述文件中讀出的當前舞步信息
  11. unsigned char speeds[8] = {0,0,0,0,0,0,0,0};
  12. unsigned char data_pointer = 0;//指向舞步數據的指針
  13. unsigned char time_t = 0;//指定重新讀取一次 speeds 值的計時周期
  14. code char dancedata[] = {54,15,12,12,87,95,65,45,-89,-88,-54,-54,54,68,-45,-65,-65,-48,101,121,115,117,19,
  15. -98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,109,104,-30,-102,-104,-106,110,100,
  16. 54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,-24,-98,95,102,102,
  17. 100,130,30,10,-90,-120,87,102,102,100,130,30,10,-90,-120,87,102,103,105,54,15,12,12,87,95,65,45,-89,-88,-54,
  18. -98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,45,-89,-88,-54,
  19. -98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,109,104,-30,-102,-104,-106,110,
  20. 100,130,30,10,-90,-120,87,102,102,100,130,30,10,-90,-120,87,-120,87,102,103,105,109,104,-30,-102,-104,-106,110,
  21. 54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,-24,-98,95,102,102,
  22. 54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,-24,-98,95,102,102,
  23. 54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,-24,-98,95,102,102,
  24. 54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,-24,-98,95,102,102,
  25. -98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,45,-89,-88,-54,
  26. -98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,45,-89,-88,-54,
  27. -98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,45,-89,-88,-54,
  28. };
  29. code char pin[8] = {1,2,4,8,16,32,64,128};
  30. char MAX_SPEED_TICKER = 120;
  31. unsigned char i; //電機序號

  32. void InitTimer(void) //初始化計數器
  33. {
  34.   TH0 = 0xFA;  //設置觸發周期:1000次
  35.   TL0 = 0x24;
  36.   TMOD = TMOD |0x01;  //select mode 1
  37.   TR0 = 1; //start timer0
  38.   ET0 = 1; //enable timer 0 interrupt
  39.   EA =1; //global interrupt enable
  40. }

  41. void SetAllSpeeds(void)  //設置各電機的速度,并讓它運動起來
  42. {
  43.   char delta;  //旋轉方向 1:正 -1:反  0:停
  44.   for(i=0;i<8;i++)
  45.   {
  46.     P2=pin[i]; //發送鎖存信號
  47.     speed_tickers[i] += speeds[i]; //計數值增加 speed[i]越高,增加得越多
  48.     if(speed_tickers[i] >= MAX_SPEED_TICKER) //如果計數值超過預定最大值,就發送脈沖
  49.     {
  50.       speed_tickers[i] = 0;
  51.       delta = 1;
  52.     }
  53.     else if(speed_tickers[i] <= -MAX_SPEED_TICKER) //同上,反響旋轉
  54.     {
  55.       speed_tickers[i] = 0;
  56.       delta = -1;
  57.     }
  58.     else delta = 0;
  59.     cur_step[i] += delta;
  60.     cur_step[i] &= 0x07; //計算當前應發脈沖
  61.     P0 = steps[cur_step[i]];
  62.     P2 = 0;
  63.   }
  64. }

  65. void OnTimer(void) interrupt 1 using 2
  66. {
  67.   unsigned char j;
  68.   SetAllSpeeds();
  69.   InitTimer();
  70.   time_t++;
  71.   if(time_t==200) //每200次觸發讀取一次新舞步數據
  72.   {
  73.     for(j=0;j<8;j++)
  74.       speeds[j] = dancedata[data_pointer+j];
  75.     data_pointer += 8;
  76.     time_t = 0;
  77.   }
  78. }

  79. void main()  //程序的入口
  80. {
  81.   InitTimer();  //初始化后等中斷
  82.   while(1);
  83. }

復制代碼


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