舵机控制八路伺服电机

1、控制八路伺服电机。J6,J7,J8,J10,J11,J12插座为16路，P1.3,P1.4为78路。注意：伺服电机数据线是I/O-VCC-GNDChip type : AT89S52 Clock frequency : 24MHz */*/#include "reg52.h"#define delay_time 0xcbeb /定义延时常量sbit P2_3=P23;/以下常量对应的角度(n为负) n90 n45 0 45 90unsigned int loc_angle5=0x014d,0x029B,0x04e8,0x0535,0x0683;unsigned int de

2、lay_timel,delay_timeh; /低电平延时时间,高电平延时时间unsigned char pwm_number=0; /脉冲数unsigned char pwm_outword=1; /输出命令void delay_1ms() /1毫秒延时程序 unsigned char j=0,i=8;dowhile(-j) ; while(-i);void delay(unsigned char i) /毫秒级延时程序while(i-)delay_1ms(); void timer0(void) interrupt 1 /T0定时中断服务子程序unsigned int temp; /临时变

3、量if (pwm_outword!=0x10)temp=delay_timeh; /装入高电平延时值P1=0XFF;P2=0XFF; /输出控制命令pwm_outword<<=1; /控制命令左移一位else temp=delay_timel; /装入低电平延时值pwm_outword=1;P1=0; /输出低电平P2=0X0F;pwm_number+; /低电平输出完成,脉冲数+TL0=(unsigned char)temp; /装入值temp>>=8;TH0=(unsigned char)temp;void time0_init() /定时器初始化TMOD=0x01

4、; /设置成16位定时器TH0=0x44; /设置中断初值TL0=0x44;EA=1; /使能全局中断ET0=1; /使能T0中断TR0=1; /启动T0void main()unsigned char i_temp; /临时变量dowhile(P2_3); /声控for(i_temp=0;i_temp<10;i_temp+) /开始时，灯闪烁10次 P0=0; /灯亮delay(100); /延时0.2SP0=0xff; /灯灭delay(100); /延时0.2Stime0_init(); /定时器初始化while(1) /循环for (i_temp=0;i_temp<5;i_

5、temp+) /5个位置依次切换delay_timeh=0xffff-loc_anglei_temp;delay_timel=delay_time+loc_anglei_temp;while(pwm_number<50);pwm_number=0; /while 结束/main SL-DIY08-52引脚功能分配 52pdi.jpg (56.17 KB) 被浏览 153 次 */ORG 0000HLJMP mainORG 000BHLJMP time0ORG 0030Hpwm_outword EQU 0010H ;控制命令delay_timeh EQU 0012H ;高电平延时值dela

6、y_timel EQU 0014H ;低电平延时值pwm_number EQU 0016H ;脉冲数delay_100ms: ;100毫秒延时子程序MOV R2,#0C8H ;取延时外循环数200D2: MOV R1,#0FAH ;取延时内循环数250D1: DJNZ R1 ,D1 ;内循环，累减一，DJNZ R2, D2 ;外循环，累减一RETtime0: ;定时器0中断服务程序MOV A,pwm_outwordXRL A,#010HJZ loadhMOV R4,delay_timehMOV R5,delay_timeh+01H ;装入高电平延时值 MOV P1,#0FFHMOV P2,#0

7、FFH MOV A,pwm_outword ;输出控制命令ADD A,ACCMOV pwm_outword,A SJMP loadlloadh:MOV R4,delay_timelMOV R5,delay_timel+01H ;装入低电平延时值 MOV pwm_outword,#01H MOV P1,#00H MOV P2,#0FH INC pwm_number ;低电平输出完成,脉冲数+ loadl: MOV TL0,R5 MOV A,R4MOV R5,AMOV R4,#00H MOV TH0,A ;装入值 RETI time0_init:MOV TMOD,#01H MOV TH0,#0ee

8、H ;装载初值 MOV TL0,#0eeH SETB EA ;使能全局中断 SETB ET0 ;使能T0中断 SETB TR0 RETmain: JB P2.3,main ;等待声控 MOV R4,#00shanshuo: ;刚开始8LED闪烁十次MOV P0,#00 ;8LED全亮 LCALL delay_100ms ;延时100毫秒 MOV P0,#0FFH ;8LED全灭 LCALL delay_100ms ;延时100毫秒 INC R4 ;寄存器加一CJNE R4,#0AH,shanshuo ;闪烁十次 LCALL time0_init ;初始化定时器 xunhuan: MOV R4,

9、#00HCLR AMOV R0,Aload: MOV DPTR,#angleMOV A,R0MOVC A,A+DPTR ;读取低八位MOV R6,AINC R0MOV A,R0MOVC A,A+DPTR ;读取高八位MOV R7,AMOV A,#0FFHSUBB A,R7MOV delay_timeh+01H,A ;装载高电平的延时时间的高八位MOV A,#0FFHSUBB A,R6MOV delay_timeh,A ;装载高电平的延时时间的低八位MOV A,R7ADD A,#0EBHMOV delay_timel+01H,A ;装载低电平的延时时间的高八位MOV A,R6ADDC A,#0CBHMOV delay_timel,A ;装载高电平的延时时间的低八位pwm50 : MOV A,pwm_numberCLR CSUB