控制八路舵機源程序

1、控制八路舵機源程序仿真截圖:XTAL2nUiBUTTOW HOTOftASfRvOU1 逗=WTAL1E : I FDOrftDO poifzn RD 3閃 3 PO 酣 CO POAfAD* P05/AK POfi 淚D5 Dcr.xnT/程序:#in cludesbit PWMO = P 0;sbit P WM1 = P 1人1;sbit P WM2 = P 2;sbit P WM3 = P 3;sbit PWM4 = P 4;sbit P WM5 = P15;sbit P WM6 = P 6;sbit P WM7 = P17;sbit ADD = P 3人6;sbit SUB = P 3

2、人7;#defi ne uchar un sig ned char#defi ne uint un sig ned intuint t_upO = 1500;uint t_up1 = 1500;=-DigrtDl OsdllcDpe-/1-lLl0;c-) for(b=142;b0;b-) for(a=2;a0;a-);void timer_i nit()EA = 1;ET0 = 1;PT0 = 1;TMOD = 0x11;TH0 = (65536 - t_up0)/256;TL0 = (65536 - t_u p0)%256; uchar t0_flag = 0;uint num_max =

3、 65535;/直接用65535 - t_up不用變量-t_up時，誤差較大，原因暫時不明 【注：65536不能存到uint類型變量中】uint t_change = 63036;/換路周期 2.5ms 8 路uchar error。= 45; uchar error1 = 45; uchar error2 = 52;uchar error3 = 52;uchar error4 = 57;uchar error5 = 57;uchar error6 = 63;uchar error7 = 63;uchar error8 = 70;uchar error9 = 70;uchar errorlO

4、= 76;uchar error11 = 76;uchar error12 = 82;uchar error13 = 82;uchar error14 = 88;uchar error15 = 88;void timer0() interrupt 1 if(t0_flag = 0)PWM0 = 1;?是為了抵消執(zhí)行語句花的時間TH0 = (num _max - t_u p0 + error0)/256; /+TL0 = (num _max - t_u p0 + error0)%256;t0_flag = 1;else if(t0_flag = 1)PWM0 = 0;TH0 = (t_cha n

5、ge + t_u p0 +error1)/256;TL0 = (t_cha nge + t_up0 +error1)%256;t0_flag = 2;else if(t0_flag = 2)P WM1 = 1;?是為了抵消執(zhí)行語句花的時間TH0 = (num _max - t_u p1 + error2)/256; /+TL0 = (num _max - t_u p1 + erro %256;t0_flag = 3;else if(t0_flag = 3)P WM1 = 0;TH0 = (t_cha nge + t_u p1 +error3)/256;TL0 = (t_cha nge + t_

6、up1 +erro %256;tO_flag = #;else if(tO_flag = 4)P WM2 = 1;THO = (num _max - t_u p2 + error4)/256; 11+ TLO = (num _max - t_u p2 + error4)%256;?是為了抵消執(zhí)行語句花的時間t0_flag = 5;else if(t0_flag = 5)P WM2 = 0;TH0 = (t_cha nge + t_u p2 +error5)/256;TL0 = (t_cha nge + t_up2 +error5)%256;t0_flag = 6;else if(t0_flag

7、 = 6)P WM3 = 1;TH0 = (num _max - t_u p3 + error6)/256; /+TL0 = (num _max - t_u p3 + erro %256;?是為了抵消執(zhí)行語句花的時間t0_flag = 7;else if(t0_flag = 7)P WM3 = 0;TH0 = (t_cha nge + t_u p3 +error7)/256;TL0 = (t_cha nge + t_up3 +error7)%256;t0_flag = 8;else if(t0_flag = 8)PWM4 = 1;TH0 = (num _max - t_u p4 + error

8、8)/256; /+TL0 = (num _max - t_u p4 + error8)%256;?是為了抵消執(zhí)行語句花的時間t0_flag = 9;else if(t0_flag = 9)PWM4 = 0;TH0 = (t_cha nge + t_u p4 +error9)/256;TLO = (t_cha nge + t_up4 +error9)%256;t0_flag = 10;else if(t0_flag = 10)P WM5 = 1;TH0 = (num _max - t_u p5 + error10)/256; /+TL0 = (num _max - t_up5 + error1

9、0)%256;?是為了抵消執(zhí)行語句花的時間t0_flag = 11;else if(t0_flag = 11)P WM5 = 0;TH0 = (t_cha nge + t_u p5 + error11)/256;TL0 = (t_cha nge + t_up5 + error11)%256;t0_flag = 12;else if(t0_flag = 12)P WM6 = 1;TH0 = (num _max - t_u p6 + error12)/256; /+TL0 = (num _max - t_up6 + error12)%256;?是為了抵消執(zhí)行語句花的時間t0_flag = 13;e

10、lse if(t0_flag = 13)P WM6 = 0;TH0 = (t_cha nge + t_u p6 + error13)/256;TL0 = (t_cha nge + t_up6 + error13)%256;t0_flag = 14;else if(t0_flag = 14)P WM7 = 1;TH0 = (num _max - t_u p7 + error14)/256; /+TL0 = (num _max - t_up7 + error14)%256;?是為了抵消執(zhí)行語句花的時間tO_flag = 15;else if(t0_flag = 15)P WM7 = 0;TH0 = (t_cha nge + t_u p7 + error15)/256;TL0 = (t_cha nge + t_up7 + error15)%256;t0_flag = 0; void mai n()uint t_while; timer_i nit(); TR0 = 1; while(1)if(ADD = 0)delayms(2); if(ADD = 0) if(t_u p0 = 1050)t_upO = t_upO - 50; t_up1 = t_u p1 -