基于51单片机的多电机同步控制系统-Proteus

#include <reg51.h> #include <intrins.h> #include<math.h> #include"stdlib.H" #include"stdio.H" #define uchar unsigned char #define uint unsigned int /**********端口分配(根据控制对象命名)*******************************/ sbit A1=P1^0; // sbit B1=P1^1; // sbit C1=P1^2; // sbit D1=P1^3; // sbit S=P1^4; // sbit Q=P1^5; // sbit UP_HUM=P1^6; // sbit DN_HUM=P1^7; // sbit UP_HIGH=P3^4; // sbit DN_HIGH=P3^5; // sbit DUAN=P2^6; sbit WEI=P2^7; sbit LED_R=P3^6; sbit LED_G=P3^7; sbit A_MOTOR=P2^0; // sbit B_MOTOR=P2^1; // sbit C_MOTOR=P2^2; // sbit D_MOTOR=P2^3; // sbit E_MOTOR=P2^4; // sbit F_MOTOR=P2^5; // /**********变量定义*******************************/ #define pwm_max 10 uchar pwm_motor[4]={3,3,3,3};//电机初始速度 uchar HUM_TMP = 17; //土壤湿度 uchar HIGH_TMP = 50; //高度 char code table[]={0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90,0x88,0x83,0xc6,0xa1,0x86,0x8e,0xff};//数码管段码表 #define start_led_g /*********定义延时1ms子程序************************/ void delay1ms(uint t)//1ms延时子程序 { uint k,j; for(k=0;k<t;k++) for(j=0;j<120;j++); } void motor_stop(void)//电机停止子程序 { A_MOTOR=0; B_MOTOR=0; C_MOTOR=0; D_MOTOR=0; E_MOTOR=0; F_MOTOR=0; } void seg_close(void)//数码管关闭子程序 { P0 = 0; DUAN = 1; DUAN = 0; WEI = 1; WEI = 0; } void seg_dis(uchar dat1,uchar dat2)//数码管显示子程序 { uchar i; uchar dis[8]; dis[0]=0xff; dis[1]=0xff; dis[2]=table[dat1%100/10]; dis[3]=table[dat1%10]; dis[4]=0xff; dis[5]=table[dat2/100]; dis[6]=table[dat2%100/10]; dis[7]=table[dat2%10]; for(i=0;i<8;i++) { P0 = dis[i]; DUAN = 1; DUAN = 0; P0=0X01<<i; WEI = 1; WEI = 0; delay1ms(2); P0= 0; WEI = 1; WEI = 0; } } void led_close(void)//led关闭子程序 { LED_G =0; LED_R = 0; } /*************定时器初始化程序*******************/ void timer_init(void) { TMOD=0x10; //设置定时器1为16位模式 TH1=0xFc; //1000us定时初值 TL1=0x18; ET1=1; //定时器1中断开 EA=1; //总中断开 } /***********定时器1中断服务程序*******************/ void timer1(void) interrupt 3 { static uchar count = 0; static uint count1 = 0; TH1=0xFc; //1000us定时初值 TL1=0x18; count++; //电机A控制PWM if(count==pwm_motor[0]) A_MOTOR=0; if(count==pwm_max) A_MOTOR=1; //电机B控制PWM if(count==pwm_motor[1]) B_MOTOR=0; if(count==pwm_max) B_MOTOR=1; //电机C控制PWM if(count==pwm_motor[2]) C_MOTOR=0; if(count==pwm_max) C_MOTOR=1; //电机D控制PWM if(count==pwm_motor[3]) D_MOTOR=0; if(count==pwm_max) D_MOTOR=1; if(count==pwm_max) count=0; //S弹开后进入10s倒计时 if(S==1) { count1++; if(count1>=10000) { count1=0; LED_R = 0; motor_stop(); TR1 = 0; } } } /**********************主函数*********************/ void main() { motor_stop(); seg_close(); led_close(); timer_init(); //定时器初始化程序 while(1) { if(S==0)//S开关闭合 { TR1=1; LED_R=1; if(A1==0)//A1开关闭合 pwm_motor[0]=10; else pwm_motor[0]=3; if(B1==0)//A1开关闭合 pwm_motor[1]=10; else pwm_motor[1]=3; if(C1==0)//A1开关闭合 pwm_motor[2]=10; else pwm_motor[2]=3; if(D1==0)//A1开关闭合 pwm_motor[3]=10; else pwm_motor[3]=3; if(Q==0)//Q开关闭合 { E_MOTOR=1; F_MOTOR=1; LED_G=1; } else { LED_G = 0; E_MOTOR=0; F_MOTOR=0; } seg_dis(HUM_TMP,HIGH_TMP); //按键调节HUM_TMP if(!UP_HUM) { while(!UP_HUM); if(HUM_TMP<20) HUM_TMP++; } if(!DN_HUM) { while(!DN_HUM); if(HUM_TMP>7) HUM_TMP--; } //按键调节HIGH_TMP if(!UP_HIGH) { while(!UP_HIGH); if(HIGH_TMP<100) HIGH_TMP++; } if(!DN_HIGH) { while(!DN_HIGH); if(HIGH_TMP>50) HIGH_TMP--; } } else { LED_G = 0; E_MOTOR=0; F_MOTOR=0; } } } /**************************************************/