xiaoche.rar_单片机 模拟PWM_小车pwm

#include<reg51.h> #define uchar unsigned char #define uint unsigned int sbit P20=P0^1; sbit P21=P0^2; sbit PWM1=P0^3; sbit P23=P0^4; sbit P24=P0^5; sbit PWM2=P0^6; sbit KEY0=P3^4; //矩阵键盘 sbit KEY1=P3^5; sbit KEY2=P3^6; sbit KEY3=P3^7; sbit SCAN1=P3^2; sbit SCAN0=P3^3; sbit LED0 = P0^0;//数码管 uint count1=1,Flag=0; uchar num,temp=0; uchar code table[]={ 0x3f,0x06,0x5b,0x4f, 0x66,0x6d,0x7d,0x07, 0x7f,0x6f,0x77,0x7c, 0x39,0x5e,0x79,0x71,0}; uchar drv1=0,drv2=0;//正转或者反转的控制； bit pwm_al_1=1,pwm_al_2=1; uint flg1=0,flg2=0; uint speed1=15,speed2=15;//档位的控制变量； /***********************************************************子程序部分***********************/ void Delay5Ms(void) { unsigned int TempCyc = 1000; while(TempCyc--); } void L298_M1(uchar drv1,bit pwm_al)//一号电机 { if(drv1==1) //正转 { P20=1; P21=0; } else //反转 { P20=0; P21=1; } PWM1=pwm_al; } void L298_M2(uchar drv2,bit pwm_al)//二号电机 { if(drv2==1) //正转 { P23=1; P24=0; } else //反转 { P23=0; P24=1; } PWM2=pwm_al; } uchar keyscan() { switch(temp%2) { case 0: SCAN1=0; SCAN0=1; if(!KEY0) { Delay5Ms(); if(!KEY0) { while(!KEY0); num=1; Flag = 1; count1++; } } if(!KEY1) { Delay5Ms(); if(!KEY1) { while(!KEY1); num=2; if(speed1<40) speed1=speed1+4; if(speed2<40) speed2=speed2+4; } } if(!KEY2) { Delay5Ms(); if(!KEY2) { while(!KEY2); num=3; if(speed1>=15) speed1=speed1-4; if(speed2>=15) speed2=speed2-4; } } if(!KEY3) { Delay5Ms(); if(!KEY3) { while(!KEY3); num=4; speed1=15; speed2=35; } } break; case 1: SCAN1=1; SCAN0=0; if(!KEY0) { Delay5Ms(); if(!KEY0) { while(!KEY0); num=5; speed1=35; speed2=15; } } if(!KEY1) { Delay5Ms(); if(!KEY1) { while(!KEY1); num=6; speed1=0; speed2=0; } } if(!KEY2) { Delay5Ms(); if(!KEY2) { while(!KEY2); num=7; speed1=15; speed2=15; } } if(!KEY3) { Delay5Ms(); if(!KEY3) { while(!KEY3); num=8; speed1=40; speed2=40; } } break; } return num; } /************************************************子程序完*********************************/ /**************************************************中断处理程序***************************/ void Time0(void) interrupt 1 { TH0=0xff; TL0=0x9c; temp++; flg1++; flg2++; if(temp>200) temp=0; if(flg1<speed1) pwm_al_1=1; else pwm_al_1=0; if(flg1>=40) flg1=0; if(flg2<speed2) pwm_al_2=1; else pwm_al_2=0; if(flg2>=40) flg2=0; LED0=0; P2=table[num]; LED0=1; } /*************************************************中断处理程序结束*****************************/ /****************************************************初始化函数********************************/ void system_init() { TH0= 0xff;//100us; TL0= 0x9c; // TH1 = 0xff; // 100us； // TL1 = 0x9c; // TMOD = 0x01; //[GATE,C/~T,M1,M0,GATE,C/~T,M1,M0],启动T0的GATE,选择T0的工作方式为方式1; TCON = 0x10; //[TF1,TR1,TF0,TR0,IE1,IT1,IE0,IT0],启动T0，T1； IE = 0x02; //[EA,--,--,ES,ET1,EX1,ET0,EX0]； } EA=1; } /*****************************************************初始化函数完******************************/ /**************************************************主函数*************************************/ void main() { system_init(); P0=0; while(1) { keyscan(); if(speed1>40) speed1=0; if(speed2>40) speed2=0; if(Flag){ if(count1%2==0) { drv1=1;//正转 drv2=1; } else { drv1=0;//反转 drv2=0; } L298_M1(drv1,pwm_al_1); L298_M2(drv2,pwm_al_2); } } } /***************************************************end*****************************************/