51單片機(jī)機(jī)械手控制C程序

1、/包含所需頭文件#include#define uchar unsigned char/*-宏定義-*/sbitqigang_left=P00;/氣缸sbitqigang_right=P01;sbitqigang_up=P02;sbitqigang_down=P03;sbitqigang_behind=P04;sbitqigang_front=P05;sbitqigang_grasp=P06;sbitqigang_loose=P07;sbitjourney_left=P10; /傳感器開(kāi)關(guān)sbitjourney_right=P11;sbitjourney_up=P12; sbitjourney

2、_down=P13;sbitjourney_behind=P14;sbitjourney_front=P15;sbitflag_start=P32;/啟動(dòng)按鈕/* 中斷 */void t0(void) interrupt 0 using 0 /按鍵按下觸發(fā)中斷服務(wù)程序/flag_start=1;/* 延時(shí)函數(shù)S*/void delay(unsigned char m) /延時(shí)子m秒子程序 unsigned char i,j,k; m=m*100; for(i=m;i0;i-) for(j=20;j0;j-) for(k=248;k0;k-); /* 主函數(shù) */void main() qiga

3、ng_left=1; qigang_right=1; qigang_front=1; qigang_behind=1; qigang_up=1; qigang_down=1; qigang_grasp=1; qigang_loose=1;/* 中斷初始化 */IT0=1;/ 下降沿觸發(fā)EX0=1; EA=1;if(flag_start=0) while(1) qigang_left=0;/機(jī)械手左移while(1)/左移死循環(huán)，等待下面的傳感器開(kāi)關(guān) if(journey_left=0)/左面的傳感器開(kāi)關(guān)接通 qigang_left=1;/停止左移qigang_front=0;/機(jī)械手前移whi

4、le(1) /前移死循環(huán)，等待前面的傳感器開(kāi)關(guān)if(journey_front=0) /前面的傳感器開(kāi)關(guān)接通qigang_front=1; /停止前移qigang_down=0; /機(jī)械手下降while(1) /下降死循環(huán)，等待下面的傳感器開(kāi)關(guān)if(journey_down=0) /下面的傳感器開(kāi)關(guān)接通qigang_down=1; /停止下降qigang_grasp=0; /機(jī)械手抓取delay(1); /抓取延時(shí)qigang_up=1;/開(kāi)始上升while(1)/上升死循環(huán)，等待上面的傳感器開(kāi)關(guān)if(journey_up=0) /上面的傳感器開(kāi)關(guān)接通qigang_up=1;/停止上升qigang_right=0;/向右移動(dòng)while(1)if(journey_right=0)qigang_right=1;qigang_behind=0;while(1)if(journey_behind=0)qigang_behind=1;qigang_down=0;while(1)if(journey_down=0)qigang_down=1;qigang_loose=0;delay(1); qigang_up=1;while(1)if(jo