单片机之步进电机控制方向篇（二）

步进电机的正反转的关键在于相序，改变相序即改变旋转的方向。

例如四相八拍：A-AB-B-BC-C-CD-D-DA(正转)

                         D-DC-C-CB-B-BA-A-AD(反转)

通过按键控制电机的正反转：（为了更容易理解，程序写的有点多，当然，如果为了减少代码，可以利用数组来简化程序）

#include "reg52.h"
typedef unsigned char u8;
typedef unsigned int u16;
sbit A = P1^0;   //定义引脚
sbit b = P1^1;
sbit C = P1^2;
sbit D = P1^3;
void setmotor0();
void setmotor1();
void motor_cs();
void Timer0Init();
void Delay10ms();
void key1();

void key();
sbit key_1=P3^4;
sbit key_2=P3^5;
u8 rate=0,i=0,m=0;

u8 motorstep=0;  //步进电机步序
u16 Speed=1,Tim,CT;
#define speed 12;
void Timer0() interrupt 1
{ static u16 count,count1;
  TH0=0xfc;
	TL0=0x18;
	count++;
		if(count>=100)
		{
		  count=0;
			if(i==0) {count1=90;}
			if(i==1) {count1=60;}
		  if(i==2) {count1=30;}
		  if(i==3) {count1=0;}
		  if(i>3) i=0;
		}
		if(count<=count1) Tim=1; else Tim=0;
	
}
int main()
{
	Timer0Init();
  motor_cs();
	while(1)
	{
		key();
		key1();
		if(m==0)  setmotor0();
		//if(m==1)    Tim=0; 
		if(m==1)  setmotor1();
		if(m>=2) {m=0;setmotor0();}
		//if(m==3)    Tim=0;
		//if(m>=4)  {m=0; setmotor0();}
	
		
	}
	
}

void motor_cs()
{
  A=1;
	b=1;
	C=1;
	D=1;
}

void setmotor0()
{
   switch(motorstep)
	 {
		 case 0:   //a
			 if(Tim)
			 {
				 A=0;
	       b=1;
	       C=1;
	       D=1;
				 motorstep=1;
				 Tim=0;
			 }
			 break;
			case 1:   //ab
			 if(Tim)
			 {
				 A=0;
	       b=0;
	       C=1;
	       D=1;
				 motorstep=2;
				 Tim=0;
			 }
			 break; 
			 case 2:
			 if(Tim)
			 {
				 A=1;
	       b=0;
	       C=1;
	       D=1;
				 motorstep=3;
				 Tim=0;
			 }
			 break;
			 case 3:
			 if(Tim)
			 {
				 A=1;
	       b=0;
	       C=0;
	       D=1;
				 motorstep=4;
				 Tim=0;
			 }
			 break;
			 case 4:
			 if(Tim)
			 {
				 A=1;
	       b=1;
	       C=0;
	       D=1;
				 motorstep=5;
				 Tim=0;
			 }
			 break;
			 case 5:
			 if(Tim)
			 {
				 A=1;
	       b=1;
	       C=0;
	       D=0;
				 motorstep=6;
				 Tim=0;
			 }
			 break;
			 case 6:
			 if(Tim)
			 {
				 A=1;
	       b=1;
	       C=1;
	       D=0;
				 motorstep=7;
				 Tim=0;
			 }
			 break;
			 case 7:
			 if(Tim)
			 {
				 A=0;
	       b=1;
	       C=1;
	       D=0;
				 motorstep=0;
				 Tim=0;
			 }
			 break;
			
	      
	 }

}

void setmotor1()
{
   switch(motorstep)
	 {
		 case 0:   //a
			 if(Tim)
			 {
				 A=0;
	       b=1;
	       C=1;
	       D=0;
				 motorstep=1;
				 Tim=0;
			 }
			 break;
			case 1:   //ab
			 if(Tim)
			 {
				 A=1;
	       b=1;
	       C=1;
	       D=0;
				 motorstep=2;
				 Tim=0;
			 }
			 break; 
			 case 2:
			 if(Tim)
			 {
				 A=1;
	       b=1;
	       C=0;
	       D=0;
				 motorstep=3;
				 Tim=0;
			 }
			 break;
			 case 3:
			 if(Tim)
			 {
				 A=1;
	       b=1;
	       C=0;
	       D=1;
				 motorstep=4;
				 Tim=0;
			 }
			 break;
			 case 4:
			 if(Tim)
			 {
				 A=1;
	       b=0;
	       C=0;
	       D=1;
				 motorstep=5;
				 Tim=0;
			 }
			 break;
			 case 5:
			 if(Tim)
			 {
				 A=1;
	       b=0;
	       C=1;
	       D=1;
				 motorstep=6;
				 Tim=0;
			 }
			 break;
			 case 6:
			 if(Tim)
			 {
				 A=0;
	       b=0;
	       C=1;
	       D=1;
				 motorstep=7;
				 Tim=0;
			 }
			 break;
			 case 7:
			 if(Tim)
			 {
				 A=0;
	       b=1;
	       C=1;
	       D=1;
				 motorstep=0;
				 Tim=0;
			 }
			 break;
			
	      
	 }

}




void Timer0Init()
{
  TMOD=TMOD|0X01;
	TH0=0xfc;
	TL0=0x18;
	ET0=1;
	EA=1;
	TR0=1;


}
void key()
{
  if(key_1==0)
	{
	Delay10ms();
		if(key_1==0)
			i++;
	}
  while(!key_1);
}
void key1()
{
  if(key_2==0)
	{
	Delay10ms();
		if(key_2==0)
			m++;
	}
  while(!key_2);
}
void Delay10ms()		//@11.0592MHz
{
	unsigned char i, j;

	i = 18;
	j = 235;
	do
	{
		while (--j);
	} while (--i);
}