单片机伺服程序c语言,步进电机控制程序(c语言+51单片机 - 控制/MCU - 电子发烧友网...

步进电机控制程序(c语言+51单片机)

#include

#define uint  unsigned int

#define uchar unsigned char

#define ms *77

// f = 12 M

#define LEDLen 4

#define Dj_star() {IE=0x81; pri_dj=0; }

#define Dj_stop() {IE=0x00; pri_dj=1; P1=0xff; shache="0"; delay(800ms); delay(800ms);delay(400ms); shache = 1; }

#define Chilun_Num 8

/* 齿轮数 8 个*/

#define set_display_num() { LEDBuf[0] = tmp / 1000;     LEDBuf[1] = tmp / 100 % 10;  \

LEDBuf[2] = tmp / 10 % 10;  LEDBuf[3] = tmp % 10;        }

uchar LEDBuf[LEDLen] = {0,0,0,0};

void  read_num ();                /* 读播码盘 到 set_round_num  * 8 */

void  display  ();

void  delay(uint  delay_TIme) { uint  i; for (i=0; i < delay_TIme ; i++) ; }

void  run ();

void  fx_run();

uint  round_num     = 0;           /* 记录已转的 齿轮数 , 中断1次 加 1*/

uint  set_round_num = 0;           /* 播码盘设置 圈数 */

uint  set_pwm_width = 0;           /* 播码盘设置 步进电机 正向速度 */

bit   one_round_flg = 0;

sbit  led_1000      = P0^7;        //use for display

sbit  led_100       = P0^6;        //use for display

sbit  led_10        = P0^5;        //use for display

sbit  led_1         = P0^4;        //use for display

sbit  key_start     = P3^0;

sbit  key_puse      = P3^0;

sbit  key_clear     = P3^1;

/*  P3^2 接齿轮传感器 中断  */

sbit  bujin_zx_stop = P3^3;        /* 接步进电机 ,正向到位传感器 ,为 0 停机 */

sbit  bujin_fx_stop = P3^4;        /* 接步进电机 ,反向到位传感器 ,为 0 停机 */

sbit  shache        = P3^5;        /* 接刹车控制继电器   0 电位有效 */

sbit  pri_dj        = P3^6;        /* 接主电机控制继电器 0 电位有效 */

void main(){

TCON = 0x01;

display();

while(1) {

IE="0x00";

round_num = 0;

display();

if ( bujin_fx_stop ) fx_run();

while ( key_start );

delay ( 8ms );

if(!key_start){

read_num();

//set_round_num  = 8;

while ( !key_start );

run ();

fx_run();

}

}

}

void run () {

#define Delay_TIme   180

/* 转一圈 50 次循环，每循环 4 步 ，50 * 4 = 200 ， 200 * 1。8 = 360 */

uchar i ;

P1 = 0xff;

set_pwm_width = 15 + set_pwm_width / 10;

while ( 1 ) {

while( !shache | !key_start );

Dj_star();

for ( i="0" ; bujin_zx_stop & !pri_dj;i++ ){

P1 =  0xf9;

delay ( Delay_TIme  );        // bujin_zx_stop = P3^3;

P1 =  0xfc;                   // bujin_fx_stop = P3^4;

delay ( Delay_time);          // key_puse      = P3^0;

P1 =  0xf6;                   // key_clear     = P3^1;

delay ( Delay_time  );        // shache        = P3^5;

P1 =  0xf3;                   // pri_dj        = P3^6;

delay ( Delay_time );

if( i == set_pwm_width ) { P1 = 0xff; i = 0; one_round_flg = 0; while ( !one_round_flg & key_puse );}

if(!key_puse) { delay(4ms);  if(!key_puse) break;  }

}

P1 = 0xff;

if ( pri_dj )  break;

if ( !key_puse ) {

delay ( 8ms );

if ( !key_puse  ) {

Dj_stop();

while ( !key_puse );

// next pree key

while( !shache );

while(1){

while (  key_puse &  key_clear );

delay ( 8ms );

if ( !key_clear )  { round_num = 0; display(); }

if ( !key_puse  )  break;

}

while( !key_puse );

delay(8ms);

while( !key_puse );

}

}

}

}

void ext_int0(void) interrupt 0  {   /* 主电机 齿轮 中断 */

uint tmp;

EA = 0;

if( !pri_dj ){

round_num ++;

if (round_num % Chilun_Num == 0 ){

one_round_flg = 1;

tmp = round_num  / Chilun_Num ;

set_display_num();

P0 = 0xf0;

P0 = P0 | LEDBuf[0] ;

led_1000  = 0;

P0 |= 0xf0;

P0 = 0xf0;

P0 = P0 | LEDBuf[1] ;

led_100   = 0;

P0 |= 0xf0;

P0 = 0xf0;

P0 = P0 | LEDBuf[2] ;

led_10    = 0;

P0 |= 0xf0;

P0 = 0xf0;

P0 = P0 | LEDBuf[3] ;

led_1     = 0;

P0 |= 0xf0;

P0 = 0xf0;

}

if ( round_num >= set_round_num  ) Dj_stop();

}

EA = 0x81;

}

void display(){

uchar i;

uint tmp = 0;

tmp = round_num  / Chilun_Num ;

set_display_num();

for(i = 0; i < LEDLen ; i ++){

P0 = 0xf0;

P0 = P0 | LEDBuf[i] ;

if(i==0) led_1000  = 0;        //P0^4

if(i==1) led_100   = 0;        //P0^5

if(i==2) led_10    = 0;        //P0^6

if(i==3) led_1     = 0;        //P0^7

P0 |= 0xf0;

}

P0 = 0xf0;

}

void read_num(){

/* 读播码盘 到 set_round_num  ，set_pwm_width  */

uchar tmp;

P2 =  0xFF;

P2 =  0xEF;    // 1110 1111

delay ( 1ms  );

tmp =   ~(P2  | 0xF0);

P2 =  0xDF;    // 1101 1111

delay ( 1ms  );

tmp = (~(P2 | 0xF0 )) * 10   + tmp;

set_round_num = tmp;

P2 =  0xBF;    // 1011 1111

delay ( 1ms  );

tmp = (~(P2 | 0xF0));

P2 =  0x7F;    // 0111 1111

delay ( 1ms  );

tmp = (~(P2 | 0xF0)) * 10 + tmp;

set_round_num = set_round_num  + tmp * 100;

set_round_num = set_round_num  * Chilun_Num;

P2 =  0xFF;

P1 =  0xbF;    // 0111 1111

delay ( 1ms );

tmp =   ~(P2  | 0xF0) ;

P1  =  0xFF;

P2  =  0xFF;

P1 &=  0x7F;    // 1011 1111

delay ( 1ms );

tmp = (~(P2 | 0xF0)) * 10 + tmp ;

set_pwm_width = tmp ;

P1  = 0xFF;

P2  = 0xFF;

}

void  fx_run(){

#define f_Delay_time 180

while ( bujin_fx_stop ) {   /* 反向 回车 直到 传感器 动作*/

P1 =  0xf3;                   //0011

delay ( f_Delay_time );

P1 =  0xf6;                   //0110

delay ( f_Delay_time );

P1 =  0xfc;                   //1100

delay ( f_Delay_time );

P1 =  0xf9;                   //1001

delay ( f_Delay_time );

}

P1 = 0xff;

}