基于单片机的PWM舵机控制仿真

#include <reg52.h> unsigned int count; //0.5ms次数标识 sbit cs1=P2^0; sbit cs2=P2^1; sbit cs3=P2^2; sbit cs4=P2^3; sbit pwm =P3^7 ; //PWM信号输出 sbit jia =P2^5; //角度增加按键检测IO口 sbit jan =P2^4; //角度减少按键检测IO口 unsigned char jd; //角度标识 unsigned char jdx; //角度显示 unsigned char fx; //判断正负 unsigned int jsbz=0; unsigned char code tab[]={ 0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90,0xff,0xbf }; unsigned char ds[]={0,0,0,0}; void smxs(); void delay(unsigned char i)//延时 { unsigned char j,k; for(j=i;j>0;j--) for(k=125;k>0;k--); } void delay1(unsigned int i) { while(i--); } void delay2(unsigned int i) { while(i--)smxs(); } void cxx() { if(jd==8)jdx=90,fx=1; else if(jd==9)jdx=78,fx=1; else if(jd==10)jdx=57,fx=1; else if(jd==11)jdx=36,fx=1; else if(jd==12)jdx=14,fx=1; else if(jd==13)jdx=6,fx=2; else if(jd==14)jdx=27,fx=2; else if(jd==15)jdx=49,fx=2; else if(jd==16)jdx=70,fx=2; else if(jd==17)jdx=90,fx=2; if(fx==1)ds[0]=11; else if(fx==2)ds[0]=10; ds[1]=0; ds[2]=jdx/10; ds[3]=jdx%10; } void smxs() { cxx(); cs1=0;P0=tab[ds[0]];delay1(50);cs1=1;cs2=1;cs3=1;cs4=1; cs2=0;P0=tab[ds[1]];delay1(50);cs2=1;cs1=1;cs3=1;cs4=1; cs3=0;P0=tab[ds[2]];delay1(50);cs3=1;cs2=1;cs1=1;cs4=1; cs4=0;P0=tab[ds[3]];delay1(50);cs4=1;cs2=1;cs3=1;cs1=1; } void Time0_Init() //定时器初始化 { TMOD = 0x01; //定时器0工作在方式1 IE = 0x82; TH0 = 0xff; TL0 = 0xa4; //11.0592MZ晶振，0.5ms TR0=1; //定时器开始 } void keyscan() //按键扫描 { unsigned char ajx; if(jia==0) //角度增加按键是否按下 { delay(10); //按下延时，消抖 if(jia==0) //确实按下 { if(jd<17)jd++; //角度标识加1 count=0;jsbz=0; //按键按下 则20ms周期从新开始 while(jia==0) //等待按键放开 { smxs(); if(jsbz>30000) { jsbz=0;ajx=1; } if(ajx==1) { delay2(50);if(jd<17)jd++; } } ajx=0; } } if(jan==0) //角度减小按键是否按下 { delay(10); if(jan==0) { if(jd>8)jd--; //角度标识减1 count=0; while(jan==0) { if(jsbz>30000) { jsbz=0;ajx=1; } if(ajx==1) { delay2(50);if(jd>8)jd--; } } ajx=0; } } } void Time0_Int() interrupt 1 //中断程序 { TH0=0xff; //重新赋值 TL0=0xa4; jsbz++; 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 0.5 40 0.1 200 count=count%200; //次数始终保持为40 即保持周期为20ms } void main() { jd=12;//12 count=0; Time0_Init(); while(1) { smxs(); keyscan(); } }