#include<reg52.h>
#define uchar unsigned char
#define uint unsigned int
uchar Buffer[4] = {0}; //?????????????
uint i,j;
sbit Z1=P2^2; //???????
sbit Z2=P2^1; //????????
sbit Y1=P2^3; //???????
sbit Y2=P2^4; //????????
sbit ENA=P2^0;
sbit ENB=P2^5;
sbit S1=P1^2; //???????
sbit S2=P1^1; //????????
sbit X1=P1^3; //???????
sbit X2=P1^4; //????????
sbit ENC=P1^0;
sbit END=P1^5;
bit Right_moto_stp=1;
bit Left_moto_stp =1;
bit Up_moto_stp=1;
bit Down_moto_stp=1;
uchar pwm_val_left=0; //???????
uchar push_val_left=0; //?????????N/20
uchar pwm_val_right=0;
uchar push_val_right=0; //?????????N/20
uchar pwm_val_up=0;
uchar pwm_val_down=0;
uchar push_val_up=0;
uchar push_val_down=0;
void stop();
void pwmint();
void pwmint(void)
{
TMOD|=0X01;
TH0= 0XFC; //2ms???
TL0= 0X30;
TR0= 1;
ET0= 1;
EA = 1; //?????ж?
}
void Delay_1ms(uint i)//1ms???
{
uchar x,j;
for(j=0;j<i;j++)
for(x=0;x<=114;x++);
}
void Com_Int(void) interrupt 4
{
EA = 0;
if(RI == 1) //????????????????????RI????λ
{
Buffer[0] = SBUF - 48; //??????48???????????з??????????????ASCII??
RI = 0;
}
EA = 1;
}
void Com_Init(void)
{
TMOD = 0x20;
PCON = 0x00;
SCON = 0x50;
TH1 = 0xFd; //???ò????? 9600
TL1 = 0xFd;
TR1 = 1; //????????1
ES = 1; //???????ж?
EA = 1; //?????ж?
}
void run()
{
push_val_left=5;
push_val_right=5;
push_val_up=3;
push_val_down=5;
Z1=0;Z2=1;
Y1=0;Y2=1;
S1=0;S2=1;
X1=0;X2=1;
Delay_1ms(1000);
ENA=0;
ENB=0;
ENC=0;
END=0;
}
void back()
{
push_val_left=5;
push_val_right=5;
push_val_up=3;
push_val_down=5;
Z1=1;Z2=0;
Y1=1;Y2=0;
S1=1;S2=0;
X1=1;X2=0;
Delay_1ms(1000);
ENA=0;
ENB=0;
ENC=0;
END=0;
}
void stop()
{
Z1=0;Z2=0;
Y1=0;Y2=0;
S1=0;S2=0;
X1=0;X2=0;
Delay_1ms(100);
}
void pwm_out_left_moto(void) //????????,????push_val_left???????????,????
{
if(Left_moto_stp)
{
{if(pwm_val_left<=push_val_left)
{ ENB=1;}
else
{ENB=0;}
}
{if(pwm_val_left>=20)
{pwm_val_left=0;}
}
}
else
{ENB=0;}
}
void pwm_out_right_moto(void) //????????,????push_val_left???????????,????
{
if(Right_moto_stp)
{
if(pwm_val_right<=push_val_right)
{ENA=1;}
else
{ENA=0;}
if(pwm_val_right>=20)
{pwm_val_right=0;}
}
else
{ENA=0;}
}
void pwm_out_up_moto(void) //????????,????push_val_left???????????,????
{
if(Up_moto_stp)
{
{if(pwm_val_up<=push_val_up)
{ ENC=1;}
else
{ENC=0;}
}
{if(pwm_val_up>=20)
{pwm_val_up=0;}
}
}
else
{ENC=0;}
}
void pwm_out_down_moto(void) //????????,????push_val_left???????????,????
{
if(Down_moto_stp)
{
{
if(pwm_val_down<=push_val_down)
{ END=1;}
else
{END=0;}
}
{
if(pwm_val_down>=20)
{pwm_val_down=0;}
}
}
else
{END=0;}
}
void timer0 ()interrupt 1
{
TH0=0XEC; //5ms???
TL0=0X30;
pwm_val_left++;
pwm_val_right++;
pwm_val_up++;
pwm_val_down++;
pwm_out_left_moto();
pwm_out_right_moto();
pwm_out_up_moto();
pwm_out_down_moto();
}
void main()
{
Delay_1ms(100);
Com_Init();//????????
pwmint();
stop();
while(1)
{
switch(Buffer[0])
{
case 1: run(); break;
case 2: back();break;
case 3: stop(); break;
default:stop();break;
}
}
}
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