#include<REG52.h>
#define uchar unsigned char
#define uint unsigned int
#define N 1
//¿è²¿¶æ»ú
sbit PWM_OUT00=P0^0;
sbit PWM_OUT01=P0^1;
sbit PWM_OUT02=P0^2;
sbit PWM_OUT03=P0^3;
sbit PWM_OUT04=P0^4;
sbit PWM_OUT05=P0^5;
//СÍȶæ»ú
sbit PWM_OUT10=P1^0;
sbit PWM_OUT11=P1^1;
sbit PWM_OUT12=P1^2;
sbit PWM_OUT13=P1^3;
sbit PWM_OUT14=P1^4;
sbit PWM_OUT15=P1^5;
//´óÍȶæ»ú
sbit PWM_OUT20=P2^0;
sbit PWM_OUT21=P2^1;
sbit PWM_OUT22=P2^2;
sbit PWM_OUT23=P2^3;
sbit PWM_OUT24=P2^4;
sbit PWM_OUT25=P2^5;
//PWMµÄÊý¾ÝÖµ
uint code PWM_Value[N][18]={1490,1500,1510,1490,1500,1510,1490,1500,1510,1490,1500,1510,1490,1500,1510,1490,1500,1510}; //¶¨ÒåpwmÐźÅÖеĸߵçƽʱ¼ä ·¶Î§ 535< pwm_h <2430
uint PWM_now[18] ; //µ±Ç°pwmµÄÊýÖµ
uint *pwm_now_ad[18]; //µ±Ç°pwmµÄµØÖ·
uchar dongzuo_pd=0; //¶¯×÷Ƭ¶ÎµÄ˳Ðò´úºÅ
uchar order1; //¶¨Ê±Æ÷ɨÃèÐòÁÐ
uchar dj_num;
bit fa_time=0;
bit fa_ck=0;
struct Uartframe
{
unsigned char frameh;
unsigned char id; //idΪ0x30ʱΪȫ·¿ØÖÆÖ¸Áî
unsigned char cmd;
unsigned char udata;
unsigned char framee;
};
struct Uartframe sendframe={'#',0xff,0xff,0xff,'$'},
recframe={'#',0xff,0xff,0xff,'$'};
/*------------------------------------------------
´®¿Ú³õʼ»¯
------------------------------------------------*/
void InitUART (void)
{
PS=1;
SCON |= 0x50; // SCON: ģʽ 1, 8-bit UART, ʹÄܽÓÊÕ
TMOD |= 0x20; // TMOD: timer 1, mode 2, 8-bit ÖØ×°
TH1 = 0xFD; // TH1: ÖØ×°Öµ 9600 ²¨ÌØÂÊ ¾§Õñ 11.0592MHz
TR1 = 1; // TR1: timer 1 ´ò¿ª
EA = 0; //¹Ø±Õ×ÜÖжÏ
ES = 1; //´ò¿ª´®¿ÚÖжÏ
}
/* void send()
{
unsigned char i,*uartp = &sendframe;.frameh;
for(i=0;i<sizeof(sendframe);i++)
{
ES = 0;
TI = 0;
SBUF = *uartp;
while(!TI);
TI = 0;
ES = 1;
uartp++;
}
} */
void gengxinshuju()
{ if(recframe.frameh=='#' & recframe.framee=='$')
{
switch(recframe.id)
{
case 0x04: PWM_now[recframe.cmd-1] = recframe.udata*7+550;
P2=0x80; //ÓÃÁ÷Ë®µÆÑéÖ¤
break;
case 0x01: P2=0x10;
break;
case 0x02: P2=0x20;
break;
case 0x03: P2=0x40;
break;
default: P2=0x0f;
}
}
/* SBUF=recframe.frameh;
SBUF=recframe.id;
SBUF=recframe.cmd;
SBUF=recframe.udata;
SBUF=recframe.framee; */
}
void ad()
{
uchar i;
for(i=0;i<18;i++)
{
pwm_now_ad[i]=&PWM;_now[i];
}
}
void pwm_timer();
/*===================================================================================
³õʼ»¯ÖжÏ
=====================================================================================*/
void InitPWM(void)
{
order1=0;
TMOD |=0x11;
TH0=-1500/256;
TL0=-1500%6;
EA=0;
EX0=0;
ET0=1; TR0=1;PT0=1;PX0=0;
}
void delayMS(uint x) //ºÁÃ뼶ÑÓʱ Îó²î 0us
{
uchar a,b,c;
while(x--)
{
for(c=1;c>0;c--)
for(b=142;b>0;b--)
for(a=2;a>0;a--);
}
}
void pwm_nowfz()
{
uchar i,j,k,zu;
uint *tempp;
for(i=0;i<18;i++)
{
PWM_now[i]=PWM_Value[dongzuo_pd][i];
}
for(zu=0;zu<18;zu=zu+3)
{
for(j=zu;j<zu+2;j++) //Èý¸ö¶æ»úÅÅÐò
{
for(k=j+1;k<zu+3;k++)
{
if(*pwm_now_ad[j]>*pwm_now_ad[k])
{
tempp=pwm_now_ad[j];
pwm_now_ad[j]=pwm_now_ad[k];
pwm_now_ad[k]=tempp;
}
}
}
}
}
void dongzuo1()
{
dongzuo_pd=0;pwm_nowfz();EA=1;
delayMS(2);
/* delayMS(5000);
dongzuo_pd=1;pwm_nowfz();
delayMS(5000);
dongzuo_pd=2;pwm_nowfz();
delayMS(5000);
dongzuo_pd=3;pwm_nowfz();
delayMS(5000);
*/
}
void io_dp() //io¿ÚµçƽÉú³É
{
dj_num=pwm_now_ad[order1-1]-&PWM;_now[0];
switch(dj_num)
{
case 0 : PWM_OUT00=0;break;
case 1 : PWM_OUT01=0;break;
case 2 : PWM_OUT02=0;break;
case 3 : PWM_OUT03=0;break;
case 4 : PWM_OUT04=0;break;
case 5 : PWM_OUT05=0;break;
case 6 : PWM_OUT10=0;break;
case 7 : PWM_OUT11=0;break;
case 8 : PWM_OUT12=0;break;
case 9 : PWM_OUT13=0;break;
case 10 : PWM_OUT14=0;break;
case 11: PWM_OUT15=0;break;
case 12: PWM_OUT20=0;break;
case 13: PWM_OUT21=0;break;
case 14 : PWM_OUT22=0;break;
case 15 : PWM_OUT23=0;break;
case 16 : PWM_OUT24=0;break;
case 17 : PWM_OUT25=0;break;
}
}
void main(void)
{
InitPWM();
InitUART();
ad();
while(1)
{
dongzuo1();
}
}
unsigned char *uartp = &recframe;.frameh;
void UARTInterrupt(void) interrupt 4
{
uchar temp;
if(RI)
{
RI = 0;
temp=SBUF;
SBUF=temp;
if('#' == SBUF | (uartp-&recframe;.frameh)>sizeof(recframe)) uartp = &recframe;.frameh;
if('$' == SBUF)
gengxinshuju();
*uartp = SBUF;
uartp++;
}
else
{
TI=0;
}
}
/*===================================================================================
¶¨Ê±Æ÷T0µÄÖжϷþÎñ³ÌÐò
Ò»¸öÑ»·20MS = 8*2.5ms
=====================================================================================*/
void timer0(void) interrupt 1 using 1
{
//pwm_timer();
switch(order1)
{
case 0: //io_dp();
TH0 =(-*pwm_now_ad[0])/256;
TL0 =(-*pwm_now_ad[0])%6;
PWM_OUT00=1;
PWM_OUT01=1;
PWM_OUT02=1;
order1++;
break;
case 1:
TH0 =-(*pwm_now_ad[1]-*pwm_now_ad[0])/256;
TL0 =-(*pwm_now_ad[1]-*pwm_now_ad[0])%6;
io_dp();
order1++;
break;
case 2:
TH0 =-(*pwm_now_ad[2]-*pwm_now_ad[1])/256;
TL0 =-(*pwm_now_ad[2]-*pwm_now_ad[1])%6;
io_dp();
order1++;
break;
case 3:
TH0 =-(2303-*pwm_now_ad[2])/256;
TL0 =-(2303-*pwm_now_ad[2])%6;
io_dp();
order1=19;
break;
case 19: //io_dp();
TH0 =(-*pwm_now_ad[3])/256;
TL0 =(-*pwm_now_ad[3])%6;
PWM_OUT03=1;
PWM_OUT04=1;
PWM_OUT05=1;
//order1++;
order1=4;
break;
case 4:
TH0 =-(*pwm_now_ad[4]-*pwm_now_ad[3])/256;
TL0 =-(*pwm_now_ad[4]-*pwm_now_ad[3])%6;
io_dp();
order1++;
break;
case 5:
TH0 =-(*pwm_now_ad[5]-*pwm_now_ad[4])/256;
TL0 =-(*pwm_now_ad[5]-*pwm_now_ad[4])%6;
io_dp();
order1++;
if(order1>18) order1=0;
break;
case 6:
TH0 =-(2303-*pwm_now_ad[5])/256;
TL0 =-(2303-*pwm_now_ad[5])%6;
io_dp();
order1=20;
break;
case 20:
TH0 =(-*pwm_now_ad[6])/256;
TL0 =(-*pwm_now_ad[6])%6;
PWM_OUT10=1;
PWM_OUT11=1;
PWM_OUT12=1;
//order1++;
order1=7;
break;
case 7:
TH0 =-(*pwm_now_ad[7]-*pwm_now_ad[6])/256;
TL0 =-(*pwm_now_ad[7]-*pwm_now_ad[6])%6;
io_dp();
order1++;
break;
case 8:
TH0 =-(*pwm_now_ad[8]-*pwm_now_ad[7])/256;
TL0 =-(*pwm_now_ad[8]-*pwm_now_ad[7])%6;
io_dp();
order1++;
if(order1>18) order1=0;
break;
case 9:
TH0 =-(2303-*pwm_now_ad[8])/256;
TL0 =-(2303-*pwm_now_ad[8])%6;
io_dp();
order1=21;
break;
case 21:
TH0 =(-*pwm_now_ad[9])/256;
TL0 =(-*pwm_now_ad[9])%6;
PWM_OUT13=1;
PWM_OUT14=1;
PWM_OUT15=1;
//order1++;
order1=10;
break;
case 10:
TH0 =-(*pwm_now_ad[10]-*pwm_now_ad[9])/256;
TL0 =-(*pwm_now_ad[10]-*pwm_now_ad[9])%6;
io_dp();
order1++;
break;
case 11:
TH0 =-(*pwm_now_ad[11]-*pwm_now_ad[10])/256;
TL0 =-(*pwm_now_ad[11]-*pwm_now_ad[10])%6;
io_dp();
order1++;
break;
case 12:
TH0 =-(2303-*pwm_now_ad[11])/256;
TL0 =-(2303-*pwm_now_ad[11])%6;
io_dp();
order1=22;
break;
case 22:
TH0 =(-*pwm_now_ad[12])/256;
TL0 =(-*pwm_now_ad[12])%6;
PWM_OUT20=1;
PWM_OUT21=1;
PWM_OUT22=1;
//order1++;
order1=13;
break;
case 13:
TH0 =-(*pwm_now_ad[13]-*pwm_now_ad[12])/256;
TL0 =-(*pwm_now_ad[13]-*pwm_now_ad[12])%6;
io_dp();
order1++;
break;
case 14:
TH0 =-(*pwm_now_ad[14]-*pwm_now_ad[13])/256;
TL0 =-(*pwm_now_ad[14]-*pwm_now_ad[13])%6;
io_dp();
order1++;
break;
case 15:
TH0 =-(2303-*pwm_now_ad[14])/256;
TL0 =-(2303-*pwm_now_ad[14])%6;
io_dp();
order1=23;
break;
case 23:
TH0 =(-*pwm_now_ad[15])/256;
TL0 =(-*pwm_now_ad[15])%6;
PWM_OUT23=1;
PWM_OUT24=1;
PWM_OUT25=1;
//order1++;
order1=16;
break;
case 16:
TH0 =-(*pwm_now_ad[16]-*pwm_now_ad[15])/256;
TL0 =-(*pwm_now_ad[16]-*pwm_now_ad[15])%6;
io_dp();
order1++;
break;
case 17:
TH0 =-(*pwm_now_ad[17]-*pwm_now_ad[16])/256;
TL0 =-(*pwm_now_ad[17]-*pwm_now_ad[16])%6;
io_dp();
order1++;
break;
case 18:
TH0 =-(5000-*pwm_now_ad[17])/256;
TL0 =-(5000-*pwm_now_ad[17])%6;
io_dp();
//order1=19;
order1++;
if(order1>18) order1=0;
break;
default : order1=0;break;
}
}
本文介绍了舵机的基础知识，包括其工作原理和常见的PWM控制方式。通过阅读，读者将了解如何利用PWM信号来控制舵机的角度变化。
，
MG995的功率比较大，
MG90S功率比较小，以下有一个关于MG995的使用文章http://www.ndiy.cn/thread
最低0.47元/天 解锁文章
扫一扫
975
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
