步进电机.......zip

#include <reg52.h> sbit KEYOUT1 = P3^0; sbit KEYOUT2 = P3^1; sbit KEYOUT3 = P3^2; sbit KEYOUT4 = P3^3; sbit KEYIN1 = P3^4; sbit KEYIN2 = P3^5; sbit KEYIN3 = P3^6; sbit KEYIN4 = P3^7; unsigned char code KeyCodeMap[4][4] = { {0x31,0x32,0x33,0x26}, {0x34,0x35,0x36,0x25}, {0x37,0x38,0x39,0x28}, {0x30,0x1B,0x0D,0x27} }; unsigned char KeyStay[4][4] = { {1,1,1,1},{1,1,1,1},{1,1,1,1},{1,1,1,1} }; long beats = 0; void ConfigTimer0(void); void KeyDriver(void); void main(void) { ConfigTimer0(); while(1) { KeyDriver(); } } void ConfigTimer0(void) { TH0 = 0xFC; TL0 = 0x67; EA = 1; ET0 = 1; TMOD &= 0xF0; TMOD |= 0x01; TF0 = 0; TR0 = 1; } void MotorStart(long angle) { EA = 0; beats = (angle * 4076) / 360; EA = 1; } void MotorStop(void) { EA = 0; beats = 0; EA = 1; } void KeyAction(unsigned char KeyCode) { static bit MotorDir = 0; if((KeyCode>=0x30) && (KeyCode<=0x39)) { if(0 == MotorDir) { MotorStart(360 * (KeyCode - 0x30)); } else { MotorStart(-360 * (KeyCode - 0x30)); } } else if(0x26 == KeyCode) { MotorDir = 0; } else if(0x28 == KeyCode) { MotorDir = 1; } else if(0x25 == KeyCode) { MotorStart(90); } else if(0x27 == KeyCode) { MotorStart(-90); } else if(0x1B == KeyCode) { MotorStop(); } } void KeyDriver(void) { unsigned char i,j; static unsigned char KeyBack[4][4] = { {1,1,1,1},{1,1,1,1},{1,1,1,1},{1,1,1,1} }; for(i=0; i<4; i++) { for(j=0; j<4; j++) { if(KeyStay[i][j] != KeyBack[i][j]) { if(0 == KeyBack[i][j]) { KeyAction(KeyCodeMap[i][j]); } KeyBack[i][j] = KeyStay[i][j]; } } } } void KeyScan(void) { unsigned char i; static unsigned char KeyOut = 0; static unsigned char KeyBuff[4][4] = { {0xF,0xF,0xF,0xF},{0xF,0xF,0xF,0xF}, {0xF,0xF,0xF,0xF},{0xF,0xF,0xF,0xF} }; KeyBuff[KeyOut][0] = (KeyBuff[KeyOut][0] <<1) | KEYIN1; KeyBuff[KeyOut][1] = (KeyBuff[KeyOut][1] <<1) | KEYIN2; KeyBuff[KeyOut][2] = (KeyBuff[KeyOut][2] <<1) | KEYIN3; KeyBuff[KeyOut][3] = (KeyBuff[KeyOut][3] <<1) | KEYIN4; for(i=0; i<4; i++) { if(0xF0 == KeyBuff[KeyOut][i]) { KeyStay[KeyOut][i] = 0; } else if(0xFF == KeyBuff[KeyOut][i]) { KeyStay[KeyOut][i] = 1; } } KeyOut++; KeyOut &= 0x3; switch(KeyOut) { case 0 : KEYOUT4 = 1; KEYOUT1 = 0; break; case 1 : KEYOUT1 = 1; KEYOUT2 = 0; break; case 2 : KEYOUT2 = 1; KEYOUT3 = 0; break; case 3 : KEYOUT3 = 1; KEYOUT4 = 0; break; default : break; } } void MotorTurn(void) { unsigned char tmp; static unsigned char index = 0; unsigned char code MotorCode[8] = { 0xE,0xC,0xD,0x9,0xB,0x3,0x7,0x6 }; if(0 != beats) { if(beats > 0) { index++; index &= 0x07; beats--; } else { index--; index &= 0x07; //???????????????????? beats++; } tmp = P1; tmp &= 0xF0; tmp |= MotorCode[index]; P1 = tmp; } else { P1 |= 0x0F; } } void InterruptTimer0(void) interrupt 1 { static bit div = 0; TH0 = 0xFC; TL0 = 0x67; KeyScan(); div = ~div; if(1 == div) { MotorTurn(); } }