51单片机控制舵机程序.doc

#defineStop0//宏定义,停止#defineLeft1 //宏定义,左转#defineRight2 //宏定义,右转sbitControlPort=P2^0;//舵机信号端口sbitKeyLeft=P1^0; //左转按键端口sbitKeyRight=P1^1; //右转按键端口sbitKeyStop=P1^2; //归位按键端口unsignedcharTimeOutCounter=0,LeftOrRight=0;//TimeOutCounter:定时器溢出计数 LeftOrRight:舵机左右旋转标志voidInitialTimer(void) {TMOD=0x10;//定时/计数器1工作于方式1TH1=(65535-500)/256; // TL1=(65535-500)%256;EA=1;//开总中断ET1=1;//允许定时/计数器1中断TR1=1;//启动定时/计数器1中断}voidControlLeftOrRight(void)//控制舵机函数{ if(KeyStop==0) { //while(!KeyStop); //使标志等于Stop(0),在中断函数中将用到 LeftOrRight=Stop; } if(KeyLeft==0) { //while(!KeyLeft); //使标志等于Left(1),在中断函数中将用到 LeftOrRight=Left; } if(KeyRight==0) { //while(!KeyRight);//使标志等于Right(2),在中断函数中将用到 LeftOrRight=Right; }}voidmain(void) //主函数{InitialTimer(); for(;;) { ControlLeftOrRight(); }}voidTimer1(void)interrupt3//定时器中断函数{TH1=(65535-500)/256; TL1=(65535-500)%256; TimeOutCounter++; switch(LeftOrRight) { case0: //为0时,舵机归位, { if(TimeOutCounter<=6) { ControlPort=1; } else { ControlPort=0; } break; } case1://为1时,舵机左转,脉宽1ms(理论值),实际可以调试得出{ if(TimeOutCounter<=2) { ControlPort=1; } else { ControlPort=0; } break; } case2://为2时,舵机右转,脉宽2ms(理论值),实际可以调试得出{ if(TimeOutCounter<=10) { ControlPort=1; } else { ControlPort=0; } break; } default:break; } if(TimeOutCounter==80) //周期20ms(理论值),比较可靠,最好不要修改 { TimeOutCo