51-dual-serial-communicatiarmT.rar_51 舵机_51控制机械臂_51机械_机械臂控制_舵机

#include <reg52.h> #include<absacc.h> #define Fosc 22118400 //晶振频率 #define Btl 9600 //波特率 //外部晶振为24M STC89 每个周期 0.5us sbit dj1 = P0^0; //舵机 夹子 sbit dj2 = P0^1; //舵机 臂1 unsigned int choose = 0; //舵机选择 unsigned int ty0 = 0; //T0 溢出次数 unsigned int i,i1=0x58,i2=0x50,pwm; //延时变量 单位时间100us unsigned char data_i=0; // 串口通讯 临时存放 void init(void) //初始化 { TMOD = 0x21; //定时器0 方式1（16位） 定时器1 方式2（8位自动重装） TH0 = (65536-40000)/256; TL0 = (65536-40000)%256; //定时器0 控制机器臂 TH1 = 256- Fosc/12/16/Btl; //定时器1 串口通讯 初值 SCON = 0x50; //串口通讯 方式1 ，允许接收 PCON = 0x80; //串口通讯波特率加倍 ET0 = 1; //开定时器中断 TR0 = 1; TR1 = 1;//启动定时器 EA=1; //开总中断 dj1 = 0; dj2 = 0; } void delay(void) //软仿 延时10us { unsigned char a,c; unsigned int b; for(c=1;c>0;c--) for(b=1;b>0;b--) for(a=2;a>0;a--); } void cktx(void)//串口通讯函数 { while(!RI); //等待接收到的数据 RI = 0; data_i = SBUF; switch(data_i) { case 0x10: choose = 1; i1+=4; i = i1; break; case 0x11: choose = 1; i1-=4; i = i1; break; case 0x00: choose = 2; i2++; i = i2; break; case 0x01: choose = 2; i2--; i = i2; break; default: choose = 0; i = 0; } TI = 0; SBUF = choose; //发送 while(!TI); TI = 0; SBUF = i; //发送 while(!TI); } void main(void) { init(); while(1) { cktx();//串口通讯函数 } } void temp() interrupt 1 { TH0=(65536-40000)/256; TL0=(65536-40000)%256; switch(choose) { case 1: dj1 = 1; pwm = i1; break; case 2: dj2 = 1; pwm = i2; break; default: dj1 = 0; dj2 = 0; pwm=1; } while(pwm--) //调整PWM 占空比 { delay(); } dj1=0; dj2=0; }