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《舵机控制程序》word版

发布时间：2025-11-09 11:48:01 浏览量：17

《舵机控制程序》word版本文简介：舵机控制程序8路舵机控制器芯片：AT89S52晶振：12MHz===================================================================================*/＃include#defineuint8unsignedchar#d

《舵机控制程序》word版本文内容：

舵机控制程序

8路舵机控制器

芯片：AT89S52

晶振：12MHz

===================================================================================*/

＃i

nclude

#define

uint8

unsigned

char

#define

uint16

unsigned

int

***it

key1=P1^4;

***it

key2=P1^5;

//PWM的输出端口

***it

PWM_OUT0=P0^0;

***it

PWM_OUT1=P0^1;

***it

PWM_OUT2=P0^2;

***it

PWM_OUT3=P0^3;

***it

PWM_OUT4=P0^4;

***it

PWM_OUT5=P0^5;

***it

PWM_OUT6=P0^6;

***it

PWM_OUT7=P0^7;

//PWM的数据值

uint16

PWM_Value[8]={1500,1000,1500,1000,1750,2000,2500,2000};

uint8

order1;

//定时器扫描序列

/*===================================================================================

定时器T0的中断服务程序

一个循环20MS

=

8*2.5ms

=====================================================================================*/

void

timer0(void)

interrupt

1

using

1

{

switch(order1)

{

case

1:

PWM_OUT0=1;

TH0=-PWM_Value[0]/256;

TL0=-PWM_Value[0]%256;

break;

case

2:

PWM_OUT0=0;

TH0=-(2700-PWM_Value[0])/256;

TL0=-(2700-PWM_Value[0])%256;

break;

case

3:

PWM_OUT1=1;

TH0=-PWM_Value[1]/256;

TL0=-PWM_Value[1]%256;

break;

case

4:

PWM_OUT1=0;

TH0=-(2700-PWM_Value[1])/256;

TL0=-(2700-PWM_Value[1])%256;

break;

case

5:

PWM_OUT2=1;

TH0=-PWM_Value[2]/256;

TL0=-PWM_Value[2]%256;

break;

case

6:

PWM_OUT2=0

;

TH0=-(2700-PWM_Value[2])/256;

TL0=-(2700-PWM_Value[2])%256;

break;

case

7:

PWM_OUT3=1;

TH0=-PWM_Value[3]/256;

TL0=-PWM_Value[3]%256;

break;

case

8:

PWM_OUT3=0;

TH0=-(2700-PWM_Value[3])/256;

TL0=-(2700-PWM_Value[3])%256;

break;

case

9:

PWM_OUT4=1;

TH0=-PWM_Value[4]/256;

TL0=-PWM_Value[4]%256;

break;

case

10:

PWM_OUT4=0;

TH0=-(2700-PWM_Value[4])/256;

TL0=-(2700-PWM_Value[4])%256;

break;

case

11:

PWM_OUT5=1;

TH0=-PWM_Value[5]/256;

TL0=-PWM_Value[5]%256;

break;

case

12:

PWM_OUT5=0;

TH0=-(2700-PWM_Value[5])/256;

TL0=-(2700-PWM_Value[5])%256;

break;

case

13:

PWM_OUT6=1;

TH0=-PWM_Value[6]/256;

TL0=-PWM_Value[6]%256;

break;

case

14:

PWM_OUT6=0;

TH0=-(2700-PWM_Value[6])/256;

TL0=-(2700-PWM_Value[6])%256;

break;

case

15:

PWM_OUT7=1;

TH0=-PWM_Value[7]/256;

TL0=-PWM_Value[7]%256;

break;

case

16:

PWM_OUT7=0;

order1=0;

TH0=-(2700-PWM_Value[7])/256;

TL0=-(2700-PWM_Value[7])%256;

order1=0;

break;

default

:

order1=0;

}

order1++;

}

/*===================================================================================

初始化中断

=====================================================================================*/

void

InitPWM(void)

{

order1=1;

TMOD

|=0x11;

TH0=-1500/256;

TL0=-1500%256;

EA=1;

EX0=0;

ET0=1;

TR0=1;PT0=1;PX0=0;

}

void

delay(void)

{

uint16

i=100;

while(i--);

}

void

main(void)

{

InitPWM();

while(1)

{

if(key1==0)

{

if(PWM_Value[0]500)

PWM_Value[0]--;

}

delay();

}

}

舵机控制程序