duoji1.rar_舵机_舵机 PID

#include <reg52.h> #define uchar unsigned char #define uint unsigned int unsigned char count; //0.5ms次数标识 sbit pwm =P3^0 ; //PWM信号输出 unsigned char jd; //角度标识 void Time0_Init() //定时器初始化 { TMOD = 0x01; //定时器0工作在方式1 IE = 0x82; TH0 = 0xfe; TL0 = 0x33; //11.0592MZ晶振，0.5ms TR0=1; //定时器开始 } void Time0_Int() interrupt 1 //中断程序 { TH0 = 0xfe; //重新赋值 TL0 = 0x33; if(count<jd) //判断0.5ms次数是否小于角度标识 pwm=1; //确实小于，PWM输出高电平 else pwm=0; //大于则输出低电平 count=(count+1); //0.5ms次数加1 count=count%40; //次数始终保持为40 即保持周期为20ms } void main() { jd=2; count=0; Time0_Init(); while(1); }