机械手c语言程序,弹琴机械手的c语言程序.doc

弹琴机械手的c语言程序

#include "reg52.h"

sbit left1=P2^0;

sbit left2=P2^1;

sbit right1=P1^0;

sbit right2=P1^1;

sbit turnL=P1^3;

sbit turnR=P2^3;

sbit LE=P1^2;

sbit RIg=P2^2;

void delay_ms(unsigned char count)

{

unsigned int i,j;

for(i=0;i

{

for(j=0;j<125;j++);

}

}

void delay_us(unsigned char t)

{

while(t) t--;

}

void zhiliu(unsigned char i,unsigned char t)

{

if(i==0)

{

left1=0;

left2=1;

delay_ms(t);

left1=0;

left2=0;

delay_ms(500);

left1=1;

left2=0;

delay_ms(t);

left1=0;

left2=0;

}

else

{

right2=1;

right1=0;

delay_ms(t);

right1=0;

right2=0;

delay_ms(500);

right1=1;

right2=0;

delay_ms(t);

right1=0;

right2=0;

}

}

void bujin(unsigned char a,unsigned char b,unsigned long n,unsigned char c)

{

if(a==0)

{

turnL=b;

delay_us(10);

while (n)

{

LE=1;

delay_us(c);

LE=0;

delay_us(c);

n--;

}

}

else

{

turnR=b;

delay_us(10);

while(n)

{

RIg=1;

delay_us(c);

RIg=0;

delay_us(c);

n--;

}

}

}

void main(void)

{

while(1)

{

zhiliu(1,70);//1

bujin(1,0,8000,6);

zhiliu(1,70);//2

bujin(1,0,8000,6);

zhiliu(1,70);//3

bujin(1,1,16000,3);

zhiliu(1,70);//1

delay_ms(400);

zhiliu(1,70);//1

bujin(1,0,8000,6);

zhiliu(1,70);//2

bujin(1,0,8000,6);

zhiliu(1,70);//3

bujin(1,1,16000,3);

zhiliu(1,70);//1

bujin(1,0,16000,3);

zhiliu(1,70);//3

bujin(1,0,8000,6);

zhiliu(1,70);//4

bujin(1,0,8000,6);

zhiliu(1,70);//5-

bujin(1,1,16000,3);

zhiliu(1,70);//3

bujin(1,0,8000,6);

zhiliu(1,70);//4

bujin(1,0,8000,6);

zhiliu(1,70);//5-

delay_ms(400);

zhiliu(1,70);//5

bujin(1,0,8000,6);

zhiliu(1,70);//6

bujin(1,1,8000,6);

zhiliu(1,70);//5

bujin(1,1,8000,6);

zhiliu(1,70);//4

bujin(1,1,8000,6);

zhiliu(1,70);//3

bujin(1,1,16000,3);

zhiliu(1,70);//1

bujin(1,0,32000,2);

zhiliu(1,70);//5

bujin(1,0,8000,6);

zhiliu(1,70);//6

bujin(1,1,8000,6);

zhiliu(