XY.rar_xy平台_固高_固高gxy平台

#include<reg51.h> #include<math.h> #define ulong unsigned long sbit Xdr=P0^1; sbit Xpu=P0^0; sbit Ydr=P0^3; sbit Ypu=P0^2; sbit Xkey=P3^3; sbit Xchange=P3^2; sbit Ykey=P3^1; sbit Ychange=P3^0; sbit key=P3^5; //定义启动开关位 sbit RELAY = P3^4; //定义继电器控制位 void delay(int a) //延时 { int i; for(i=a;i>0;i--); } void taibi() //抬笔 { delay(1000); RELAY=1; delay(1000); } void xiabi() //下笔 { delay(1000); RELAY=0; delay(1000); } void line(float x,float y,char n) //直线插补子程序，n为象限 { ulong xe,ye,and; long f; Xpu=0; Ypu=0; xe=8*x; //坐标与脉冲数转换 ye=8*y; and=xe+ye; //计算总脉冲数 f=0; //原始偏差 switch(n) //判断象限 { case 1: //第一象限 { Xdr=1; //+X Ydr=1; //+Y break; } case 2: //第二象限 { Xdr=0; Ydr=1; break; } case 3: //第三象限 { Xdr=0; Ydr=0; break; } case 4: //第四象限 { Xdr=1; Ydr=0; break; } } while(and>0) //发脉冲、计算偏差,下降沿有效 { if(f>=0) //X轴动一步 { Xpu=1; delay(2); Xpu=0; delay(5); f=f-ye; //计算新偏差 } else //Y轴动一步 { Ypu=1; delay(2); Ypu=0; delay(5); f=f+xe; } and=and-1; //终点判别 } } void arc(float x0,float y0,float x,float y,char n,char r) //圆弧插补子程序 n为象限 r为顺逆 { ulong xm,ym,and; long f; float c,d; xm=8*x0; ym=8*y0; c=x-x0; if(c<0) { c=-c; } d=y-y0; if(d<0) { d=-d; } and=(c+d)*8; //总脉冲数 f=0; //原始偏差 Xpu=0; Ypu=0; if(((r=='s')&&((n==1)||(n==3)))||((r=='n')&&((n==2)||(n==4))))//一三象限顺圆，二四象限逆圆 { switch(n) //根据象限确定XY轴进给方向 { case 1: //第一象限顺圆 +X -Y { Xdr=1; Ydr=0; break; } case 2: //第二象限逆圆 -X -Y { Xdr=0; Ydr=0; break; } case 3: //第三象限顺圆 -X +Y { Xdr=0; Ydr=1; break; } case 4: //第四象限逆圆 +X +Y { Xdr=1; Ydr=1; break; } } while(and>0) //坐标进给 { if(f>=0) //在圆外面Y轴走一步 { Ypu=1; delay(2); Ypu=0; delay(5); f=f-2*ym+1; //新偏差计算 ym=ym-1; } else //在圆里面X轴走一步 { Xpu=1; delay(2); Xpu=0; delay(5); f=f+2*xm+1; xm=xm+1; } and=and-1; //终点判别 } } else //一三象限逆圆，二四象限顺圆 { switch(n) //根据象限确定进给方向 { case 1: { Xdr=0; Ydr=1; break; } case 2: { Xdr=1; Ydr=1; break; } case 3: { Xdr=1; Ydr=0; break; } case 4: { Xdr=0; Ydr=0; break; } } while(and>0) { if(f>=0) { Xpu=1; delay(2); Xpu=0; delay(5); f=f-2*xm+1; xm=xm-1; } else { Ypu=1; delay(2); Ypu=0; delay(5); f=f+2*ym+1; ym=ym+1; } and=and-1; } } } void main() //主函数 { Xdr=1; Xpu=0; Ydr=0; Ypu=0; RELAY=0; while(1) { if(key==0) { delay(10000); xiabi(); arc(0,375,375,0,4,'n'); //以O为原点绘制圆弧AA1 arc(375,0,0,375,1,'n'); //以O为圆点绘制圆弧A1B arc(0,8843,3550,8066,3,'s'); //以01为原点绘制圆弧BC line(81,927,2); //以C为原点绘制直线CD arc(377,318,494,0,4,'n'); //以O2为原点绘制圆弧DD1 arc(494,0,0,494,1,'n'); //以O2为原点绘制圆弧D1D2 arc(0,494,494,0,2,'n'); //以O2为原点绘制圆弧D2D3 arc(494,0,375,321,3,'n'); //以O2为原点绘制圆弧D3E line(62,718,4); //以E为原点绘制直线EF arc(569,2691,2614,855,3,'s'); //以O3为原点绘制圆弧FG arc(50,835,836,0,4,'n'); //以O4为原点绘制圆弧GG1 arc(836,0,0,836,1,'n'); //以O4为原点绘制圆弧G1G2 arc(0,836,836,0,2,'n'); //以O4为原点绘制圆弧G2H arc(3500,20,459,3470,3,'n'); //以O3为原点绘制圆弧HI arc(5170,1362,5346,0,1,'s'); //以O5为原点绘制圆弧II1 arc(5346,0,696,5300,4,'s'); //以O5为原点绘制圆弧I1J arc(29,374,375,0,2,'n'); //以O6为原点绘制圆弧JJ1 arc(375,0,0,375,3,'n'); //以O6为原点绘制圆弧J1K arc(724,6048,6096,0,4,'n'); //以O5为原点绘制圆弧KK1 arc(6096,0,6003,1063,1,'n'); //以O5为原点绘制圆弧K1L arc(3376,8968,0,9593,3,'n'); //以O1为原点绘制圆弧LA taibi(); //抬笔 if(key==0) { line(2211,2647,3); //以A为原点移动平台到M } xiabi(); //下笔 if(key==0) { arc(366,82,0,375,1,'n'); //以O7为原点绘制圆弧MM1 arc(0,375,375,0,2,'n'); //以O7为原点绘制圆弧M1N arc(375,0,366,82,3,'n'); arc(4265,960,4371,0,1,'s'); //以O8为原点绘制圆弧NN1 arc(4371,0,1913,3931,4,'s'); //以O8为原点绘制圆弧N1P arc(178,337,389,0,2,'n'); //以O9为原点绘制圆弧PP1 arc(389,0,0,389,3,'n'); //以O9为原点绘制圆弧P1P2 arc(0,389,150,337,4,'n'); //以O9为原点绘制圆弧P2Q arc(2241,4605,5121,0,4,'n'); //以O8为原点绘制圆弧QQ1 arc(5121,0,4996,1125,1,'n'); //以O9为原点绘制圆弧Q1M } taibi(); //抬笔 if(key==0) { line(5175,2303,1); //移动平台到R } xiabi(); //下笔 if(key==0) { line(1276,3526,2); //以R为原点绘制直线RS arc(2345,2250,0,3250,2,'s');//以O10为原点绘制圆弧SS1 arc(0,3250,2345,2250,1,'s');//以O10为原点绘制圆弧S1T line(1276,3526,3); //以T为原点绘制直线TU arc(235,85,0,250,4,'s'); //以O11为原点绘制圆弧UU1 arc(0,250,250,0,3,'s'); //以O11为原点绘制圆弧U1U2 arc(250,0,235,85,2,'s'); //以O11为原点绘制圆弧U2V line(1008,2778,1); //以V为原点绘制直线VW arc(1604,2827,0,3250,4,'s'); //以O12为原点绘制圆弧WW1 arc(0,3250,1604,2827,3,'s'); //以O12为原点绘制圆弧W1X line(1008,2778,4); //以X为原点绘制直线XY arc(235,85,250,0,1,'s'); //以O13为原点绘制圆弧YY1 arc(250,0,0,250,4,'s'); //以O13为原点绘制圆弧Y1Y2 arc(0,250,235,85,3,'s'); //以O13为原点绘制圆弧Y2Z } taibi(); //抬笔 if(key==0) { line(512,3526,2); //移动平台直下一起点 } xiabi(); //下笔 if(key==0) { arc(1581,2250,0,2750,2,'s'); //以O10为原点绘制圆弧M1M2 arc(0,2750,1581,2250,1,'s'); //以O10为原点绘制圆弧M2N arc(1581,2250,0,2750,4,'s'); //以O12为原点绘制圆弧N1N2 arc(0,2750,1581,2250,3,'s'); //以O12为原点绘制圆弧N2M1 } taibi(); //抬笔 } else { if(Xkey==0) //X轴方向 { delay(1000); if(Xkey==0) { Xdr=!Xdr; while(!Xkey); delay(1000); } } if(Ykey==0) //Y轴方向 { delay(1000); if(Ykey==0) { Ydr=!Ydr; while(!Ykey); delay(1000); } } if(Xchange==0) //X轴移动 { delay(1000); while(Xchange==0) { Xpu=1; delay(2); Xpu=0; delay(5); } } if(Ychange==0) //Y轴移动 { delay(1000); while(Ychange==0) { Ypu=1; delay(2); Ypu=0; delay(5); } } } } }