Proteus仿真舞蹈机器人步进机仿真，C51程序通过+代码+DSN

#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,-102,-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,-120,87,102,103,105,12,87,95,65,45,-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,-102,-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,-120,87,102,103,105,12,87,95,65,45,-89,-88,-54, -98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,45,-89,-88,-54, -98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,45,-89,-88,-54, }; code char pin[8] = {1,2,4,8,16,32,64,128}; char MAX_SPEED_TICKER = 120; unsigned char i; //电机序号 void InitTimer(void) //初始化计数器 { TH0 = 0xFA; //设置触发周期:1000次 TL0 = 0x24; TMOD = TMOD |0x01; //select mode 1 TR0 = 1; //start timer0 ET0 = 1; //enable timer 0 interrupt EA =1; //global interrupt enable } void SetAllSpeeds(void) //设置各电机的速度,并让它运动起来 { char delta; //旋转方向 1:正 -1:反 0:停 for(i=0;i<8;i++) { P2=pin[i]; //发送锁存信号 speed_tickers[i] += speeds[i]; //计数值增加 speed[i]越高,增加得越多 if(speed_tickers[i] >= MAX_SPEED_TICKER) //如果计数值超过预定最大值,就发送脉冲 { speed_tickers[i] = 0; delta = 1; } else if(speed_tickers[i] <= -MAX_SPEED_TICKER) //同上,反响旋转 { speed_tickers[i] = 0; delta = -1; } else delta = 0; cur_step[i] += delta; cur_step[i] &= 0x07; //计算当前应发脉冲 P0 = steps[cur_step[i]]; P2 = 0; } } void OnTimer(void) interrupt 1 using 2 { unsigned char j; SetAllSpeeds(); InitTimer(); time_t++; if(time_t==200) //每200次触发读取一次新舞步数据 { for(j=0;j<8;j++) speeds[j] = dancedata[data_pointer+j]; data_pointer += 8; time_t = 0; } } void main() //程序的入口 { InitTimer(); //初始化后等中断 while(1); }