如何在超聲波檢測模塊中加入 PWM控制舵機程序

ID:549313 · 發表于 2019-8-10 00:31

本帖最后由 LINSA 于 2019-8-10 00:37 編輯

/******************************************************************************/
/*  Name:  LCD12864(St7920/St7921)+超聲波測距模塊+STC89C52                   */
/*  hy-SRF05 超聲波測距模塊 DEMO 程序                                                                            */
/*  晶振：11.0592M                                                          */
/*  接線：模塊TRIG接 P3.7  ECH0 接P3.6                                                                               */
/*    RS       接  P24;                                                                                                    */
/*    RW       接  P23;                                                                                           */
/*    E       接  P22;                                                                                                 */
/*    PSB    接  P27;                                                                                           */
/******************************************************************************/
#include <REG51.H>
      #include <intrins.h>
//引腳定義
sbit    RX =  P3^6;
sbit    TX =  P3^7;
sbit RS = P2^6;
sbit RW = P2^5;
sbit E  = P2^7;
sbit RES = P2^5;
sbit PSB = P3^2;
sbit PAUSE = P1^6;

#define DataPort P0       //MCU P1<------> LCM


//Function Definition　函數聲明
void delayms(unsigned int ms);

void Delay(int num);
void Init_DS18B20(void);
unsigned char ReadOneChar(void);
void WriteOneChar(unsigned char dat);
unsigned int ReadTemperature(void);
void clock_out(unsigned char dd);
unsigned char clock_in(void);
unsigned char read_clock(unsigned char ord);
void write_clock(unsigned char ord, unsigned char dd);
void Disp(void);
void id_case1_key(void);
void id_case2_key(void);
void Set_time(unsigned char sel,bit sel_1);
void Timer0_Init(void);
void Init_1302(void);
void Set_Bell(unsigned char sel, bit sel_1);
void Bell(void);
//12864
void Write_char(bit start, unsigned char ddata);
void Send_byte(unsigned char bbyte);
void Delaynms(unsigned int di);
void Lcd_init(void);
void Disp_img(unsigned char *img);
void LCD_Write_string(unsigned char X,unsigned char Y,unsigned char *s);
void LCD_set_xy( unsigned char x, unsigned char y );
unsigned char code num[]={"0123456789 :.-"};
unsigned char code waves[]={"測量值："};
unsigned char code znwk[] ={"設置值："};
unsigned char code CM[] =  {"米"};
unsigned char code DU[] =  {"度"};
unsigned int  time=0;
      long S=0;
      bit  flag =0;
unsigned char disbuff[4]          ={ 0,0,0,0,};
unsigned char code logo[]={
/*--  調入了一幅圖像：logo.bmp  -- */
/*--  寬度x高度=128x64 歡迎使用本產品LOGO --*/
/*--  調入了一幅圖像：C:\Documents and Settings\lwd\桌面\新建文件夾\X.bmp  --*/
/*--  寬度x高度=128x64  --*/
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xEF,0x9F,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xEF,0x99,0xFF,0x9F,0xFF,0xFF,0x7F,0xFF,0xFF,0xFF,0x9F,0xFF,0xEF,0xF9,0xFF,
0xFF,0xEF,0x99,0xFF,0x9F,0xFF,0xFF,0x7F,0xFE,0xFF,0xFF,0x1F,0xFF,0xEF,0xF9,0xFF,
0xFF,0xFF,0x19,0xFE,0x9F,0xF7,0xFE,0xFF,0xFF,0xFF,0xFF,0x99,0xFF,0xEF,0xF9,0xFF,
0xFF,0x6F,0x00,0xFF,0x9F,0xEE,0xFE,0xFF,0xFF,0xFF,0xFF,0x99,0xFF,0xEF,0x79,0xFF,
0xFF,0xEF,0xF9,0xFF,0x9F,0xE8,0xFE,0xFF,0x8F,0xFF,0x0F,0x9F,0xFF,0x6F,0x09,0xFF,
0xFF,0x0F,0x7F,0xFF,0x1F,0xEE,0xFF,0x07,0x80,0xFF,0xE9,0x0F,0xF8,0x6F,0x70,0xFF,
0xFF,0xE1,0x00,0xFF,0x87,0x6E,0xFF,0x07,0xEF,0xFF,0x6F,0x80,0xFF,0x69,0x7E,0xFF,
0xFF,0xEF,0x7F,0xFF,0x9F,0x7E,0xFF,0xF7,0xEF,0xFF,0xEF,0x99,0xFF,0x89,0x6E,0xFF,
0xFF,0x8F,0x07,0xFF,0x1F,0x7E,0xFF,0xF7,0xE9,0xFF,0xF7,0x99,0xFF,0x6F,0x60,0xFF,
0xFF,0x67,0x71,0xFF,0x9F,0x7E,0xFF,0x07,0xE0,0xFF,0x97,0x91,0xFF,0x67,0x6E,0xFF,
0xFF,0xE7,0x1F,0xFF,0x8F,0x6E,0xFF,0xF7,0xEF,0xFF,0x87,0xF7,0xFF,0xEF,0x6E,0xFF,
0xFF,0xE9,0xF0,0xFF,0x91,0xEE,0xFF,0xF7,0xEF,0xFF,0x91,0x66,0xFF,0xEF,0x00,0xFF,
0xFF,0xE9,0xF7,0xFF,0x9F,0x96,0xFF,0xF7,0xE7,0xFF,0x91,0x68,0xFF,0x8F,0x98,0xFF,
0xFF,0xEF,0x07,0xF8,0x9F,0x96,0xFF,0x07,0xF8,0xFF,0x97,0x08,0xFF,0x9F,0x9E,0xFF,
0xFF,0x6F,0xE0,0xFF,0x9F,0x08,0xFF,0xF7,0xFF,0xFF,0x97,0xF9,0xFF,0x77,0x8E,0xFF,
0xFF,0xEF,0xF7,0xFF,0x9F,0xE8,0xFE,0xF7,0xFF,0xFF,0x87,0x9F,0xFF,0x77,0x9E,0xFF,
0xFF,0xEF,0x99,0xFF,0x9F,0xEE,0xFE,0xFF,0xFF,0xFF,0xF7,0x96,0xFE,0xF7,0xFE,0xFF,
0xFF,0xEF,0x79,0xFF,0x9F,0xF7,0xF9,0xFF,0xFF,0xFF,0x77,0x60,0xFE,0xF9,0xF8,0xFE,
0xFF,0xEF,0x7E,0xFE,0x8F,0xF9,0xF9,0xFF,0x00,0xFE,0x7F,0x86,0xFE,0xF9,0x01,0xF8,
0xFF,0x6F,0xFF,0xF8,0x9F,0xFF,0xFF,0xFF,0x01,0xFF,0xFF,0xFF,0xFF,0xFE,0x0F,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
};

/******************************************************************************/
void Lcd_init(void)       //初始化LCD
{
delayms(40);          //大于40MS的延時程序
PSB=1;                //設置為8BIT并口工作模式
delayms(1);          //延時
RES=0;                //復位
delayms(1);          //延時
RES=1;                //復位置高
delayms(1);
Write_char(0,0x30);    //選擇基本指令集
delayms(1);       //延時大于100us
Write_char(0,0x30);    //選擇8bit數據流
delayms(1);       //延時大于37us
Write_char(0,0x0c);    //開顯示(無游標、不反白)
delayms(1);       //延時大于100us
Write_char(0,0x01);    //清除顯示，并且設定地址指針為00H
delayms(1);          //延時大于10ms
Write_char(0,0x06);    //指定在資料的讀取及寫入時，設定游標的移動方向及指定顯示的移位，光標從右向左加1位移動
delayms(1);       //延時大于100us
}

/******************************************************************************/
/*------------------------------------------------
                  檢測忙位
------------------------------------------------*/
void Check_Busy()
{
RS=0;
RW=1;
E=1;
DataPort=0xff;
while((DataPort&0x80)==0x80);//忙則等待
E=0;
}

void Write_char(bit start, unsigned char ddata) //寫指令或數據
{
//       unsigned char start_data,Hdata,Ldata;
      if(start==0)
{       Check_Busy();
      RS=0;
      RW=0;
      E=1;
      DataPort=ddata;
//       delayms(5);
      E=0;
//       delayms(5);
}
else
{       Check_Busy();
      RS=1;
      RW=0;
      E=1;
      DataPort=ddata;
//       delayms(5);
      E=0;
//       delayms(5);
}
}

/******************************************************************************/
void Delaynms(unsigned int di) //延時
{
      unsigned int da,db;
      for(da=0;da<di;da++)
               for(db=0;db<10;db++);
}

/******************************************************************************/
void Disp_img(unsigned char  *img)       //圖形方式12864顯示字模221 橫向取膜
{
      unsigned char i,j;
      unsigned int k = 0;

      Write_char(0,0x36); //圖形方式
      for(i=0;i<32;i++)
      {
            Write_char(0,0x80+i);
            Write_char(0,0x80);
         for(j=0;j<16;j++)
            {
                     Write_char(1,img[k++]);
            }
      }

      for(i=0;i<32;i++)
      {
            Write_char(0,0x80+i);
            Write_char(0,0x88);
         for(j=0;j<16;j++)
            {
                     Write_char(1,img[k++]);
               }
      }
}

/******************************************************************************/
void Clr_Scr(void)//清屏函數
{
      Write_char(0,0x01);
}

/******************************************************************************/
void LCD_set_xy( unsigned char x, unsigned char y )
{       //設置LCD顯示的起始位置，X為行，Y為列
unsigned char address;
      switch(x)
      {
            case 0: address = 0x80 + y; break;
         case 1: address = 0x80 + y; break;
            case 2: address = 0x90 + y; break;
                  case 3: address = 0x88 + y; break;
            case 4: address = 0x98 + y; break;
            default:address = 0x80 + y; break;
      }
Write_char(0, address);
}

/******************************************************************************/
void LCD_Write_string(unsigned char X,unsigned char Y,unsigned char *s)
{       //       中英文字符串顯示函數
      LCD_set_xy( X, Y );

while (*s)
{
            Write_char( 1, *s );
         s ++;
            Delaynms(1);
      }
}

ID:549313 · 發表于 2019-8-10 00:37

/******************************************************************************/
void LCD_Write_number(unsigned char s)//       數字顯示函數
{
      Write_char(1,num);
      Delaynms(1);
}
/******************************************************************************/
void Lcd_Mark2(void)
{
      Clr_Scr();//清屏
      LCD_Write_string(1,0,znwk);//
      LCD_Write_string(3,0,waves);//
      LCD_Write_string(3,7,CM);//
LCD_Write_string(1,7,CM);//
LCD_Write_string(2,7,DU);//
LCD_Write_string(4,7,DU);//
}

/********************************************************/
void Conut(void)
      {
         time=TH0*256+TL0;
         TH0=0;
         TL0=0;
      S=(time*1.8)/10;    //算出來是mM
      if((S>=7000)||flag==1) //超出測量范圍顯示“-”
      {
      flag=0;
         LCD_set_xy( 3, 4 );
         LCD_Write_number(13);
         LCD_Write_number(12);
         LCD_set_xy( 3, 5 );
         LCD_Write_number(13);
         LCD_Write_number(13);
         LCD_Write_number(13);

         }
      else
      {
      disbuff[0]=S/1000;
      disbuff[1]=S/100%10;
      disbuff[2]=S/10%10;
      disbuff[3]=S%10;
         LCD_set_xy( 3, 4 );
         LCD_Write_number(disbuff[0]);
         LCD_Write_number(12);
         LCD_set_xy( 3, 5 );
         LCD_Write_number(disbuff[1]);
         LCD_Write_number(disbuff[2]);
         LCD_Write_number(disbuff[3]);
      }
      }
/********************************************************/
void delayms(unsigned int ms)
{
      unsigned char i=100,j;
      for(;ms;ms--)
      {
            while(--i)
            {
                     j=10;
                     while(--j);
            }
      }
}
/********************************************************/
   void zd0() interrupt 1                //T0中斷用來計數器溢出,超過測距范圍
  {
flag=1;                                                       //中斷溢出標志
      RX=0;
  }
void Timer_Count(void)
{
               TR0=1;                         //開啟計數
         while(RX);                      //當RX為1計數并等待
         TR0=0;                               //關閉計數
      Conut();                      //計算

}

/********************************************************/
void  StartModule()                         //T1中斷用來掃描數碼管和計800MS啟動模塊
  {
      TX=1;                                        //800MS  啟動一次模塊
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      TX=0;
  }

/********************************************************/
void main(void)
{
unsigned int valA;

      Lcd_init();    //設置液晶顯示器
      Clr_Scr();       //清屏
      Disp_img(logo);       //顯示歡迎使用本產品LOGO
      delayms(80);
      Lcd_init();    //從圖形顯示狀態下返回
Lcd_Mark2();
      TMOD=0x01;                //設T0為方式1，GATE=1；
      TH0=0;
      TL0=0;
      ET0=1;          //允許T0中斷
      EA=1;                         //開啟總中斷

      while(1)
      {

            delayms(60);
            RX=1;
         StartModule();
      for(valA=7510;valA>0;valA--)
         {

            if(RX==1)
               {
         Timer_Count();
               }
         }
      }
}

*******PWM******

//#include <STC15.h>
//#include"STC89C5xRC.H"

#include "reg51.h"

#define uint8       unsigned char
#define uint16       unsigned short int
#define uint32       unsigned long

sbit SERVO0=P0^0;                      //控制舵機的PWM輸出口

uint16 Servo0PwmDuty=1500;       //PWM脈沖寬度

/***********************************************************
* 名稱： DelayMs(uint16 ms)
* 功能：延時ms毫秒
* 入口參數： ms       毫秒
* 出口參數：無
* 說明：
/**********************************************************/
void DelayMs(uint16 ms)
{
      uint16 i,j;
      for(i=0;i<85;i++)             //89單片機用85,12系列單片機用800
            for(j=0;j<ms;j++);
}
/***********************************************************
* 名稱：InitTimer0()
* 功能：時鐘0初始化
* 入口參數：無
* 出口參數：無
* 說明：12M晶振，12分頻，所以計數器每遞增一個數就是1微秒，完全滿足舵機控制的精度要求
                     因為定時器是TH0，TL0都要全部計數到0xFF后在計1個數就會產生中斷，所以要想產生
                     x毫秒的中斷，那么TH0，TL0就應該賦值（0xFFFF-x）       從這個值開始計數產生定時中斷
/**********************************************************/
void InitTimer0(void)
{
      TMOD &= 0xF0;             //設置定時器模式
      TMOD |= 0x01;             //設置定時器模式
      TL0 = 0x00;                      //設置定時初值
      TH0 = 0x00;                      //設置定時初值
      TF0 = 0;                      //清除TF0標志
      TR0 = 1;                      //定時器0開始計時
      ET0 = 1;                      //開定時器0中斷
}
/***********************************************************
* 名稱：Timer0Value(uint16 pwm)
* 功能：給定時器0計數器賦值產生定時中斷
* 入口參數：pwm             控制舵機的PWM脈沖寬度值（范圍：500~2500）
* 出口參數：無
* 說明：12M晶振，12分頻，所以計數器每遞增一個數就是1微秒，完全滿足舵機控制的精度要求
                     因為定時器是TH0，TL0都要全部計數到0xFF后在計1個數就會產生中斷，所以要想產生
                     pwm毫秒的中斷，那么TH0，TL0就應該賦值（0xFFFF-pwm）       從這個值開始計數產生定時中斷
/**********************************************************/
void Timer0Value(uint16 pwm)
{
      uint16 value;
      value=0xffff-pwm;
      TR0 = 0;
      TL0=value;                      //16位數據給8位數據賦值默認將16位數據的低八位直接賦給八位數據
TH0=value>>8;             //將16位數據右移8位，也就是將高8位移到低八位，再賦值給8位數據
      TR0 = 1;
}
/***********************************************************
* 名稱： main()
* 功能：入口函數
* 入口參數：無
* 出口參數：無
* 說明：
/**********************************************************/
void main(void)
{

      InitTimer0();       //定時器0初始化
      EA = 1;                      //開總中斷
      while(1)             //大循環
      {
            Servo0PwmDuty = 500;             //脈沖寬度在500微秒，對應-90°
            DelayMs(1000);             //延時1秒
            Servo0PwmDuty = 1000;       //脈沖寬度在1000微秒，對應-45°
            DelayMs(1000);
            Servo0PwmDuty = 1500;
            DelayMs(1000);
            Servo0PwmDuty = 2000;
            DelayMs(1000);
            Servo0PwmDuty = 2500;
            DelayMs(1000);
            Servo0PwmDuty = 2000;
            DelayMs(1000);
            Servo0PwmDuty = 1500;
            DelayMs(1000);
            Servo0PwmDuty = 1000;
            DelayMs(1000);
      }
}

/***********************************************************
* 名稱： Timer0_isr() interrupt 1 using 1
* 功能：時鐘0中斷處理
* 入口參數：無
* 出口參數：無
* 說明：
/**********************************************************/
void Timer0_isr(void) interrupt 1 using 1
{
      static uint16 i = 1;       //靜態變量：每次調用函數時保持上一次所賦的值，
                                                      //跟全局變量類似，不同是它只能用于此函數內部
      switch(i)
      {
            case 1:
                     SERVO0 = 1;       //PWM控制腳高電平
                     //給定時器0賦值，計數Pwm0Duty個脈沖后產生中斷，下次中斷會進入下一個case語句
                     Timer0Value(Servo0PwmDuty);
                     break;
            case 2:
                     SERVO0 = 0;       //PWM控制腳低電平
                     //高脈沖結束后剩下的時間(20000-Pwm0Duty)全是低電平了，Pwm0Duty + (20000-Pwm0Duty) = 20000個脈沖正好為一個周期20毫秒
                     Timer0Value(20000-Servo0PwmDuty);
                     i = 0;
                     break;
      }
      i++;
}

ID:549313 · 發表于 2019-8-10 01:48

怎么把PWM控制舵機寫入超聲波中，測超聲波時舵機也能轉動

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如何在超聲波檢測模塊中加入 PWM控制舵機程序