72.基于51单片机的舞蹈机器人步进机仿真设计.docx
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2023-04-23
20:19:43
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#include "reg51.h"
#include "intrins.H"
//8 步式步进电机脉冲序列
//unsigned char steps[8] = {0x77,0x33,0xbb,0x99,0xdd,0xcc,0xee,0x66};
unsigned char steps[8] = {0x2,0x6,0x4,0xc,0x8,0x9,0x1,0x3};
//当前各电机在上述序列中的位置
unsigned char cur_step[8] = {0,0,0,0,0,0,0,0};
//这个文件用于记录舞步信息序列
char speed_tickers[8] = {0,0,0,0,0,0,0,0};
//从上述文件中读出的当前舞步信息
unsigned char speeds[8] = {0,0,0,0,0,0,0,0};
unsigned char data_pointer = 0;//指向舞步数据的指针
unsigned char time_t = 0;//指定重新读取一次 speeds 值的计时周期
code char dancedata[] =
{54,15,12,12,87,95,65,45,-89,-88,-54,-54,54,68,-45,-65,-65,-48,101,121,115,117,19,
-98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,109,104,-30,-1
02,-104,-106,110,100,
54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,
-24,-98,95,102,102,
100,130,30,10,-90,-120,87,102,102,100,130,30,10,-90,-120,87,102,103,105,54,15,12,12,87,95,65
,45,-89,-88,-54,
-98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,4
5,-89,-88,-54,
-98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,109,104,-30,-1
02,-104,-106,110,
100,130,30,10,-90,-120,87,102,102,100,130,30,10,-90,-120,87,-120,87,102,103,105,109,104,-30,
-102,-104,-106,110,
54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,
-24,-98,95,102,102,
54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,
-24,-98,95,102,102,
54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,
-24,-98,95,102,102,
54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,
-24,-98,95,102,102,
-98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,4
5,-89,-88,-54,
-98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,4
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