因仑“3+1”工程特种兵精英论坛

标题: 发个舵机测试的51程序 [打印本页]

作者: leixiaofeng 时间: 2015-4-7 16:21
标题: 发个舵机测试的51程序
#include < reg51.h >
#include <intrins.h>

unsigned char code LED7Code[] = {~0x40,~0x79,~0x24,~0x30,~0x19,~0x12,~0x02,~0x78,~0x00,~0x10,~0x88};

unsigned char TIM0H;
unsigned char TIM0L;

unsigned int NUM;

void delay(unsigned int i);

sbit K1=P2^7;             //++
sbit K2=P2^6;             //--
//P0 口为 PPM 舵机信号输出
//P1 口接1位数码管输出

/*********************************************************
  主函数
**********************************************************/
void  main()
{

            TMOD=0x11;

         TH1=0xb1;
         TL1=0xe0;

                     EA=1;

            ET1=1;    //允许定时/计数器1 中断
               TR1=1;    //启动定时/计数器1 中断

               TH0=0xfa;             //1.5ms定时
               TL0=0x24;

            ET0=1;
         TR0=1;

            NUM=1500;

         while(1)
                     {

                              if(K1==0)
                                    {
                                             delay(5);
                                             if(K1==0) NUM++;
                                             if(NUM>=2000)NUM=2000;
                                    }

                              if(K2==0)
                                    {
                                             delay(5);
                                             if(K2==0) NUM--;
                                             if(NUM<=1000)NUM=1000;
                                    }

                              P1=~LED7Code[((NUM-1000)/100)];

                              TIM0H=((65536-NUM)/256);
                              TIM0L=((65536-NUM)%256);


                     }
}

/*********************************************************
  中断服务函数
**********************************************************/
void Time1(void) interrupt 3
      {
         TH1=0xb1;             //20ms定时
         TL1=0xe0;
         P0=~P0;

            TR0=1;

      }

void Time0(void) interrupt 1

{


      TH0=TIM0H;
      TL0=TIM0L;
      P0=~P0;

            TR0=0;

}

void delay(unsigned int i)
{
char j;
for(i; i > 0; i--)
      for(j = 200; j > 0; j--);
}

欢迎光临因仑“3+1”工程特种兵精英论坛 (http://bbs.enlern.com/)