七、步进电机

电路图

连接电路图

综合实验

功能：按数字键 1～9，按下回车开始转动，上下键配合表示正反转，按下上键表示正转，下键表示反转；左键固定正转 90 度，右键固定反转 90；Esc 键终止转动。中断服务函数中每隔1ms扫描一次按键，每间隔2ms将节拍码送入P1口（beats不为0的情况下）；主函数中调用KeyDriver。调用关系如图：

调用关系图

 

代码：

#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;

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
};        
unsigned char KeySta[4][4] = { 							//全部矩阵按键的当前状态
{1, 1, 1, 1}, {1, 1, 1, 1}, {1, 1, 1, 1}, {1, 1, 1, 1}
};

signed long beats = 0;        //电机转动总拍数
unsigned char THR0,TLR0;
void KeyDriver();
void ConfigTimer(unsigned long ms);
void main()
{
	EA = 1;     //使能总中断
	ConfigTimer(1);	 //计算定时1ms，需要赋的初值，存在在 THR0,TLR0中
	TMOD = TMOD & 0xF0;
	TMOD = TMOD | 0x01;	//设置定时器模式1 ,不影响高四位
	TH0 = THR0;	 //定时器赋初值
	TL0 = TLR0;
	ET0= 1;		//使能T0中断
	TR0 = 1;    //启动定时器T0
	while(1)
	{
	   KeyDriver();
	}
}
void ConfigTimer(unsigned long ms)
{
	unsigned long temp;
	temp = 65536 - ms*11059200/1000/12;	//ms最大定时71ms
	THR0 = (unsigned char)(temp>>8);	    //取计数值高八位 ，计数值不会超过65535，最多占用16位。
	TLR0 = (char)temp; 					//取计数值低八位				 
}
void StartMotor(signed long angle)
{
	EA = 0;
	beats = (angle*4076)/360;     //电机转一圈需要4076拍
	EA = 1;
}
void StopMotor()
{
	EA = 0;
	beats = 0;
	EA = 1;
}
void KeyAction(unsigned char keycode)
{
	static unsigned long addend = 0;
	static bit dir = 0;        //电机转动方向标志，0为正转，1为反转
	if((keycode>=0x30)&&(keycode<=0x39))    //输入的是数字
	{
		addend = (addend*10)+(keycode-0x30);	 //将原有数字顶上去
	}
	else if(keycode == 0x26)     //上键，正转
	{
		dir = 0;
	}
	else if(keycode == 0x28)	//下键，反转
	{
		dir = 1;
	}
	else if(keycode == 0x25)	//左键，正转90度
	{
		 StartMotor(90);
	}
	else if(keycode == 0x27)	//右键，反转90度
	{
		 StartMotor(-90);
	}
	else if(keycode == 0x0D)	  //回车键，电机转动
	{
		if(dir)					  //反转
		{
			StartMotor(-addend*360);
			addend = 0;
		}	
		else					   //正转
		{
			StartMotor(addend*360);
			addend = 0;
		}
	}
	else if(keycode == 0x1B)         //esc键，清零
	{
		addend = 0;
		StopMotor();
	}
}
void KeyDriver()  
{
	unsigned char i,j;
	static unsigned char backup[4][4]={				    //一定定义成静态，否则bug
	{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(KeySta[i][j]!=backup[i][j])  //当前按键状态和之前按键状态不一致，证明按键已经按下或者抬起
			{
				if(KeySta[i][j]==0)          //如果当前按键状态为0，说明按键按下；在此我们只对按键按下动作响应
				{
					KeyAction(KeyCodeMap[i][j]);  //将对应的按键转换成标准键盘码传入KeyAction中，根据传入的键盘码执行相应动作
				}
				backup[i][j]=KeySta[i][j];	 //保存当前按键状态
			}
		}
	}
}

void KeyScan()
{
	static unsigned char keyout = 0;
	unsigned char i;
	static unsigned char keybuf[4][4]={
	{0xff,0xff,0xff,0xff},{0xff,0xff,0xff,0xff},{0xff,0xff,0xff,0xff},{0xff,0xff,0xff,0xff}
	};
	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;
	for(i=0;i<=3;i++)
	{
		if((keybuf[keyout][i]&0x0f)==0x00)
		{
			KeySta[keyout][i]=0;
		}
		else if((keybuf[keyout][i]&0x0f)==0x0f)
		{
			KeySta[keyout][i]=1;
		}
		else
		{}
	}
	keyout++;
	if(keyout>=4)
	{keyout=0;}
	switch(keyout)							 //扫描下一行
	{
		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()		   //电机转动函数，在中断中进行，2ms执行一次
{
	unsigned char code BeatCode[8] = { //步进电机节拍对应的 IO 控制代码
	0xE, 0xC, 0xD, 0x9, 0xB, 0x3, 0x7, 0x6
	};
	static signed char index=0;   //节拍角标,必须定义成signed类型
	unsigned char temp;
	if(beats != 0)   //全局变量beats不为0，则转动
	{
		if(beats > 0)   //正转
		{
		   beats--;
		   index++;
		   if(index>=8)
		   {index=0;}
		}
		else			//反转
		{
		   beats++;
		   index--;
		   if(index<=-1)
		   {index=7;}
		}
		temp = P1;
		temp = temp&0xf0;
		temp = temp|BeatCode[index];
		P1 = temp;
	}
	else
	{
		P1 = P1 & 0x0f;
	}
}
void  InterruptTimer0() interrupt 1	      
{
   static bit div=0;
   TH0=THR0;
   TL0=TLR0;
   KeyScan();
   div = ~div;
   if(div)
   {
	  TurnMotor();
   }
}