利用舵機製作簡單機械臂程序分享
*項目名稱:利用舵機製作簡單機械臂
** 編寫時間:2017.07.11
**使用晶元:stc12c2052ad
** 時鐘頻率:使用外部晶振頻率12MHz
**簡要說明:本次製作的機械臂共用了3個舵機,可以控制機械臂上下,左右移動和抓放動作。
程序
#include <stc12c2052ad.h>
#include <intrins.h>
typedef unsigned char u8;
typedef unsigned short int u16;
sbit CTRL_u_d = P3 ^ 3; //控制上,下方向的舵機控制埠
sbit CTRL_l_r = P3 ^ 4; //控制左,右方向的舵機控制埠
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sbit CTRL_g = P3 ^ 5; //控制抓起的舵機控制埠
void delay_20ms(u16 x);
u8 KeyScan();
u16 TIME = 20000; // PWM周期時間(單位美國)
u16 Min = 700; //高電平最小持續時間
u16 Max = 2300; //高電平最大持續時間
u8 Degree = 50; //單位時間寬度(最小是舵機死區設定大約10us)
u16 Times = 0; // TIME / Degree(PWM周期除於單位時間寬度)
//高電平持續時間除於單位時間寬度
u16 cTimes_u_d = 0;
u8 cTimes_l_r = 0;
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u8 cTimes_g = 0;
u8 Min_cTimes = 0;
u8 Max_cTimes = 0;
u8 R_TH0 = 0,R_TL0 = 0; //定時器0計數重載值
u8 KeyValue = 0; // 1-上,2-左,3-抓,4-右,5-下
void main()
{
Times = TIME / Degree;
cTimes_u_d = 1500 /學位;
cTimes_l_r = 1500 /學位;
cTimes_g = Min_cTimes;
Min_cTimes = Min / Degree;
Max_cTimes =最大/度;
P1 = 0xff;
CTRL_u_d = 0;
CTRL_l_r = 0;
CTRL_g = 0;
R_TL0 = 65536 - 學位;
R_TH0 =(65536 - 度)>> 8;
//設置定時器0
TMOD = 0x01; // 16位計數
TL0 = R_TL0;
TH0 = R_TH0;
ET0 = 1; //定時器0中斷開關打開
TR0 = 1; //定時器0計數開始
EA = 1; //中斷總開關打開
while(1)
{
u8 temp = 0;
KeyValue = KeyScan();
開關(KeyValue)
{
案例1://向上移動
cTimes_u_d = --cTimes_u_d <Min_cTimes?Min_cTimes:cTimes_u_d;
打破;
情況2://向左移動
cTimes_l_r = --cTimes_l_r <Min_cTimes?Min_cTimes:cTimes_l_r;
打破;
案例3://抓,放動作
if(cTimes_g == Min_cTimes)
cTimes_g = Max_cTimes;
其他
cTimes_g = Min_cTimes;
delay_20ms(15);
打破;
案例4://向右移動
cTimes_l_r = ++ cTimes_l_r> Max_cTimes?Max_cTimes:cTimes_l_r;
打破;
情況5://向下移動
cTimes_u_d = ++ cTimes_u_d> Max_cTimes?Max_cTimes:cTimes_u_d;
打破;
}
}
}
u8 KeyScan()
{
u8 key = 0;
如果(P1!= 0xff)
{
delay_20ms(2);
如果(P1!= 0xff)
{
u8 temp = P1;
key = 1;
while(temp&0x01)
{
temp = temp >> 1;
鍵++;
}
}
}
return key;
}
void Delay20ms()//@12.000MHz
{
unsigned char i,j,k;
_nop_();
_nop_();
我= 1;
j = 234;
k = 113;
做
{
do
{
while(--k);
( - j);
} 當我);
}
void delay_20ms(u16 x)
{
while(x--)Delay20ms();
}
//定時器0中斷函數每次進入中斷間隔時間為度(單位時間寬度)
void timer0()interrupt 1 using 1
{
static u16 times = 0;
TL0 = R_TL0;
TH0 = R_TH0;
//每次只控制一個舵機移動
if(times == 0)
{
switch(KeyValue)
{
case 1:
case 5:
CTRL_u_d = 1;
CTRL_l_r = 0;
CTRL_g = 0;
打破;
情況2:
情況4:
CTRL_u_d = 0;
CTRL_l_r = 1;
CTRL_g = 0;
打破;
情況3:
CTRL_u_d = 0;
CTRL_l_r = 0;
CTRL_g = 1;
打破;
}
}
else
{
switch(KeyValue)
{
case 1:
case 5:
if(times> = cTimes_u_d)
{
CTRL_u_d = 0;
}
break;
情況2:
情況4:
if(times> = cTimes_l_r)
{
CTRL_l_r = 0;
}
break;
情況3:
if(times> = cTimes_g)
{
CTRL_g = 0;
}
break;
}
}
times = ++ times> = Times?0:倍;
}