c51控制6路舵机51单片机超高精度6路舵机程序

#include “reg52.h”

#define uchar unsigned char

#define uint unsigned int

P0M1=0X00;

P0M0=0XFF;设置P0 为强推挽输出

sbit servo0=P0^0;

sbit servo1=P0^1;

sbit servo2=P0^2;

sbit servo3=P0^3;

sbit servo4=P0^4;

sbit servo5=P0^5;

sbit servo6=P0^6;

sbit servo7=P0^7;

uchar serVal[2];

uint pwm[]={1382,1382,1382,1382,1382,1382,1382,1382}; 初始90度,（实际是1382.4，取整得1382）

uchar pwm_flag=0;

uint code ms0_5Con=461; 0.5ms计数（实际是460.8，取整得461）

uint code ms2_5Con=2304; 2.5ms计数

功能串口初始化，晶振11.0592,波特率9600，使能了串口中断

void Com_Init()

{

TMOD = 0x20; 用定时器设置串口波特率

TH1=0xFD; (32129600)=253 (FD)

TL1=0xFD;同上

TR1=1;定时器1开关打开

REN=1; 开启允许串行接收位

SM0=0;串口方式，8位数据

SM1=1;同上

EA=1; 开启总中断

ES=1; 串行口中断允许位

}

功能舵机PWM中断初始化

void Timer0Init()

{

0度=0.5ms, 45度=1ms, 90度=1.5ms, 135度=2ms, 180度=2.5ms

2.5 ms初始值F700, (12n11059200=2.51000, n=2304, X=65536-2304=63232 F700)

TMOD = 0x01; 使用模式1，16位定时器，使用符号可以在使用多个定时器时不受影响TH0=-ms2_5Con8; 给定初值，17ms中断

TL0=-ms2_5Con;

EA=1; 总中断打开

ET0=1; 定时器0中断打开

TR0=1; 定时器0开关打开

}

功能舵机PWM中断, 舵机控制函数周期为20ms 一个循环20MS = 82.5ms

void SteeringGear() interrupt 1

{

switch(pwm_flag)

{

case 1 servo0=1; TH0=-pwm[0]8; TL0=-pwm[0]; break;

case 2 servo0=0; TH0=-(ms2_5Con-pwm[0])8; TL0=-(ms2_5Con-pwm[0]); break; case 3 servo1=1; TH0=-pwm[1]8; TL0=-pwm[1]; break;

case 4 servo1=0; TH0=-(ms2_5Con-pwm[1])8; TL0=-(ms2_5Con-pwm[1]); break; case 5 servo2=1; TH0=-pwm[2]8; TL0=-pwm[2]; break;

case 6 servo2=0; TH0=-(ms2_5Con-pwm[2])8; TL0=-(ms2_5Con-pwm[2]); break; case 7 servo3=1; TH0=-pwm[3]8; TL0=-pwm[3]; break;

case 8 servo3=0; TH0=-(ms2_5Con-pwm[3])8; TL0=-(ms2_5Con-pwm[3]); break; case 9 servo4=1; TH0=-pwm[4]8; TL0=-pwm[4]; break;

case 10 servo4=0; TH0=-(ms2_5Con-pwm[4])8; TL0=-(ms2_5Con-pwm[4]); break;

case 11 servo5=1; TH0=-pwm[5]8; TL0=-pwm[5]; break;

case 12 servo5=0; TH0=-(ms2_5Con-pwm[5])8; TL0=-(ms2_5Con-pwm[5]); break; case 13 servo6=1;TH0=-pwm[6]8; TL0=-pwm[6]; break;

case 14 servo6=0;TH0=-(ms2_5Con-pwm[6])8; TL0=-(ms2_5Con-pwm[6]); break;

case 15 servo7=1;TH0=-pwm[7]8; TL0=-pwm[7]; break;

case 16 servo7=0;TH0=-(ms2_5Con-pwm[7])8; TL0=-(ms2_5Con-pwm[7]); break; default TH0=0xff; TL0=0x80; pwm_flag=0;

}

pwm_flag++;

}

void SetSteeringGear(uchar i, uchar val)

{

uint a = (val+46)10;

if(ams0_5Con)

a=ms0_5Con;

if(ams2_5Con)

a=ms2_5Con;

pwm[i]=a;

serVal[0]=255; 清除缓存

}

void SteeringGearUp(uchar i)

{

if(pwm[i]ms0_5Con)

pwm[i]=pwm[i]-10;

}

void SteeringGearDown(uchar i)

{

if(pwm[i]ms2_5Con)

pwm[i]=pwm[i]+10;

}

功能串口中断接收数据

void ser() interrupt 4

{

serVal[0]=serVal[1];

serVal[1]=SBUF;

RI=0;串口中断清0

}

函数功能：主函数

void main()

{

bit started=0; 路由是否已经启动完毕

Com_Init();串口初始化

Timer0Init();舵机初始化

while(1)

{

if(serVal[0]=='w' && serVal[1]=='d'){

started=1; 路由启动最后会出现：ar71xx-wdt，由此判断路由已经启动}

if(started)

{

if(serVal[0]==0){

switch(serVal[1])

{

case 'A' SteeringGearUp(0); break; case 'B' SteeringGearDown(0); break; case 'C' SteeringGearUp(1); break; case 'D' SteeringGearDown(1); break; case 'E' SteeringGearUp(2); break; case 'F' SteeringGearDown(2); break; case 'G' SteeringGearUp(3); break; case 'H' SteeringGearDown(3); break; case 'I' SteeringGearUp(4); break; case 'J' SteeringGearDown(4); break; case 'K' SteeringGearUp(5); break; case 'L' SteeringGearDown(5); break; defaultbreak;

}

serVal[0]=255; 清除缓存

}else if(serVal[0]==1){ SetSteeringGear(0,serVal[1]);

}else if(serVal[0]==2){ SetSteeringGear(1,serVal[1]);

}else if(serVal[0]==3){ SetSteeringGear(2,serVal[1]);

}else if(serVal[0]==4){ SetSteeringGear(3,serVal[1]);

}else if(serVal[0]==5){ SetSteeringGear(4,serVal[1]);

}else if(serVal[0]==6){ SetSteeringGear(5,serVal[1]);

}

}

}

}