51单片机控制多个舵机程序

# include<REG51.h> # define uchar unsigned char # define uint unsigned int sbit dl=P1^0; sbit d2=P1^1; sbit d3=P1^2; sbit d4=P1^3; sbit d5=P1^4; sbit d6=P1^5; sbit d7=P1^6; sbit d8=P1^7; uint order1; uint t1,t2,t3,t4,t5,t6,t7,t8; void timer0(void) interrupt 1 using 1 { switch(order1) { case 1: dl=1; TH0=-t1/256; TL0=-t1%256; break; case 2: dl=0; TH0=-(2700-t1)/256; TL0=-(2700-t1)%256; break; case 3: d2=1; TH0=-t2/256; TL0=-t2%256; break; case 4: d2=0; TH0=-(2700-t2)/256; TL0=-(2700-t2)%256; break; case 5: d3=1; TH0=-t3/256; TL0=-t3%256; break; case 6: d3=0 ; TH0=-(2700-t3)/256; TL0=-(2700-t3)%256; break; case 7: d4=1; TH0=-t4/256; TL0=-t4%256; break; case 8: d4=0; TH0=-(2700-t4)/256; TL0=-(2700-t4)%256; break; case 9: d5=1; TH0=-t5/256; TL0=-t5%256; break; case 10: d5=0; TH0=-(2700-t5)/256; TL0=-(2700-t5)%256; break; case 11: d6=1; TH0=-t6/256; TL0=-t6%256; break; case 12: d6=0; TH0=-(2700-t6)/256; TL0=-(2700-t6)%256; break; case 13: d7=1; TH0=-t7/256; TL0=-t7%256; break; case 14:d7=0; TH0=-(2700-t7)/256; TL0=-(2700-t7)%256; break; case 15: d8=1; TH0=-t8/256; TL0=-t8%256; break; case 16:d8=0; order1=0; TH0=-(2700-t8)/256; TL0=-(2700-t8)%256; order1=0; break; default : order1=0; } order1++; } void main(void) { TMOD =0x11; order1=1; TH0=-1500/256; TL0=-1500%256; EA=1;EX0=0; ET0=1; TR0=1;PT0=1;PX0=0; t1=1500; t2=1000; t3=1500; t4=1000; t5=1750; t6=2000; t7=2500; t8=2000; while(1) { } }