电机

#include<reg52.h>

 

sbit KEY_IN_1 = P2^4;

sbit KEY_IN_2 = P2^5;

sbit KEY_IN_3 = P2^6;

sbit KEY_IN_4 = P2^7;

sbit KEY_OUT_1 = P2^3;

sbit KEY_OUT_2 = P2^2;

sbit KEY_OUT_3 = P2^1;

sbit KEY_OUT_4 = P2^0;

signed long beats = 0;

unsigned char KeySta[4][4] = {

{1,1,1,1},{1,1,1,1},{1,1,1,1},{1,1,1,1}

};

 

unsigned char code KeyCodeMap[4][4] = { //矩阵按键编号到标准键盘键码的映射表

    { 0x31, 0x32, 0x33, 0x26 }, //数字键1、数字键2、数字键3、向上键

    { 0x34, 0x35, 0x36, 0x25 }, //数字键4、数字键5、数字键6、向左键

    { 0x37, 0x38, 0x39, 0x28 }, //数字键7、数字键8、数字键9、向下键

    { 0x30, 0x1B, 0x0D, 0x27 }  //数字键0、ESC键、  回车键、 向右键

};

void  KeyDriver();

void main()

{

    EA = 1;       //使能总中断

    TMOD = 0x01;  //设置T0为模式1

    TH0  = 0xFC;  //为T0赋初值0xFC67，定时1ms

    TL0  = 0x67;

    ET0  = 1;     //使能T0中断

    TR0  = 1;     //启动T0

    while (1)

    {

        KeyDriver();   //调用按键驱动函数

    }

}

 

void StartMotor(signed long angle)

{

EA = 0;

beats = (angle*4076)/360;

EA = 1;

}

void StopMotor()

{

EA = 0;

beats = 0;

EA = 1;

}

void KeyAction(unsigned char keycode)

{

static bit dirMotor = 0;

if((keycode >= 0x30) &&(keycode <= 0x39))

{

if(dirMotor == 0)

{

StartMotor(360 * (keycode - 0x30));

}

else

{

StartMotor(-360 * (keycode - 0x30));

}

}

else if(keycode == 0x26)

{

dirMotor = 0;

}

else if(keycode == 0x28)

{

dirMotor = 1;

}

else if(keycode == 0x25)

{

StartMotor(90);

}

else if(keycode == 0x27)

{

StartMotor(-90);

}

 

 

else if(keycode == 0x1B)

{

StopMotor();

}

 

}

void  KeyDriver()

{

unsigned char i, j;

static unsigned char backup [4][4] = {

{1,1,1,1},{1,1,1,1},{1,1,1,1},{1,1,1,1}

};

 

for(i=0; i<4; i++)

{

for(j=0; j<4; j++)

{

if(backup[i][j] != KeySta[i][j])

{

if(backup[i][j] == 0)

{

KeyAction(KeyCodeMap[i][j]);

}

backup[i][j] = KeySta[i][j];

}

}

}

 

}

 

/* 按键扫描函数，需在定时中断中调用，推荐调用间隔1ms */

void KeyScan()

{

    unsigned char i;

    static unsigned char keyout = 0;   //矩阵按键扫描输出索引

    static unsigned char keybuf[4][4] = {  //矩阵按键扫描缓冲区

        {0xFF, 0xFF, 0xFF, 0xFF},  {0xFF, 0xFF, 0xFF, 0xFF},

        {0xFF, 0xFF, 0xFF, 0xFF},  {0xFF, 0xFF, 0xFF, 0xFF}

    };

 

    //将一行的4个按键值移入缓冲区

    keybuf[keyout][0] = (keybuf[keyout][0] << 1) | KEY_IN_1;

    keybuf[keyout][1] = (keybuf[keyout][1] << 1) | KEY_IN_2;

    keybuf[keyout][2] = (keybuf[keyout][2] << 1) | KEY_IN_3;

    keybuf[keyout][3] = (keybuf[keyout][3] << 1) | KEY_IN_4;

    //消抖后更新按键状态

    for (i=0; i<4; i++)  //每行4个按键，所以循环4次

    {

        if ((keybuf[keyout][i] & 0x0F) == 0x00)

        {   //连续4次扫描值为0，即4*4ms内都是按下状态时，可认为按键已稳定的按下

            KeySta[keyout][i] = 0;

        }

        else if ((keybuf[keyout][i] & 0x0F) == 0x0F)

        {   //连续4次扫描值为1，即4*4ms内都是弹起状态时，可认为按键已稳定的弹起

            KeySta[keyout][i] = 1;

        }

    }

    //执行下一次的扫描输出

    keyout++;                //输出索引递增

    keyout = keyout & 0x03;  //索引值加到4即归零

    switch (keyout)          //根据索引，释放当前输出引脚，拉低下次的输出引脚

    {

        case 0: KEY_OUT_4 = 1; KEY_OUT_1 = 0; break;

        case 1: KEY_OUT_1 = 1; KEY_OUT_2 = 0; break;

        case 2: KEY_OUT_2 = 1; KEY_OUT_3 = 0; break;

        case 3: KEY_OUT_3 = 1; KEY_OUT_4 = 0; break;

        default: break;

    }

}

 

void TurnMotor()

{

unsigned char tmp;

static unsigned char index = 0;

unsigned char code BeatCode[8] = {

0x0E, 0x0C, 0x0D, 0x09, 0x0B, 0x03, 0x07, 0x06};

 

if(beats != 0)

{

if(beats > 0)

{

index++;

index = index & 0x07;

beats--;

}

else

{

index--;

index = index & 0x07;

beats++;

}

tmp = P1;

tmp = tmp & 0xF0;

tmp = tmp | BeatCode[index];  

P1 = tmp;

}

else

{

P1 = P1 | 0x0F;

}

}

/* T0中断服务函数，用于数码管显示扫描与按键扫描 */

void InterruptTimer0() interrupt 1

{

static bit div = 0;

 

TH0 = 0xFC;

TL0 = 0x67;

 

KeyScan();

 

div = ~ div;

if(div == 1)

{

TurnMotor();

}

 

 

}