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#include "reg51.h"
#define uint8 unsigned char
#define uint16 unsigned short int
#define uint32 unsigned long
sbit SERVO0=P2^0; //控制舵機(jī)的PWM輸出口
sbit SERVO1=P2^1;
sbit SERVO2=P2^2;
sbit SERVO3=P2^3;
sbit SERVO4=P2^4;
sbit SERVO5=P2^5;
sbit SERVO6=P2^6;
sbit SERVO7=P2^7;
uint16 Servo0PwmDuty=1500; //PWM脈沖寬度
uint16 Servo1PwmDuty=1500;
uint16 Servo2PwmDuty=1500;
uint16 Servo3PwmDuty=1500;
uint16 Servo4PwmDuty=1500;
uint16 Servo5PwmDuty=1500;
uint16 Servo6PwmDuty=1500;
uint16 Servo7PwmDuty=1500;
uint16 k=0;
uint16 g=0;
uint16 h=0;
uint16 t=0;
void DelayMs(uint16 ms) //延時(shí)ms毫秒
{
uint16 i,j;
for(i=0;i<85;i++) //89單片機(jī)用85,12系列單片機(jī)用800
for(j=0;j<ms;j++);
}
void InitTimer0(void) //時(shí)鐘0初始化
{
TMOD &= 0xF0; //設(shè)置定時(shí)器模式
TMOD |= 0x01; //設(shè)置定時(shí)器模式
TL0 = 0x00; //設(shè)置定時(shí)初值
TH0 = 0x00; //設(shè)置定時(shí)初值
TF0 = 0; //清除TF0標(biāo)志
TR0 = 1; //定時(shí)器0開始計(jì)時(shí)
ET0 = 1; //開定時(shí)器0中斷
}
/***********************************************************
* 名 稱：Timer0Value(uint16 pwm)
* 功 能：給定時(shí)器0計(jì)數(shù)器賦值產(chǎn)生定時(shí)中斷
* 入口參數(shù)：pwm 控制舵機(jī)的PWM脈沖寬度值（范圍：500~2500）
* 出口參數(shù)：無
* 說 明：12M晶振，12分頻，所以計(jì)數(shù)器每遞增一個(gè)數(shù)就是1微秒，完全滿足舵機(jī)控制的精度要求
因?yàn)槎〞r(shí)器是TH0，TL0都要全部計(jì)數(shù)到0xFF后在計(jì)1個(gè)數(shù)就會(huì)產(chǎn)生中斷，所以要想產(chǎn)生
pwm毫秒的中斷，那么TH0，TL0就應(yīng)該賦值（0xFFFF-pwm） 從這個(gè)值開始計(jì)數(shù)產(chǎn)生定時(shí)中斷
/**********************************************************/
void Timer0Value(uint16 pwm)
{
uint16 value;
value=0xffff-pwm;
TR0 = 0;
TL0=value; //16位數(shù)據(jù)給8位數(shù)據(jù)賦值默認(rèn)將16位數(shù)據(jù)的低八位直接賦給八位數(shù)據(jù)
TH0=value>>8; //將16位數(shù)據(jù)右移8位，也就是將高8位移到低八位，再賦值給8位數(shù)據(jù)
TR0 = 1;
}
void up()
{
if(h==0)
{
Servo0PwmDuty=1500; //0
Servo1PwmDuty=1500;
Servo2PwmDuty=1500;
Servo3PwmDuty=1500;
Servo4PwmDuty=1500;
Servo5PwmDuty=1500;
Servo6PwmDuty=1500;
Servo7PwmDuty=1500;
DelayMs(1000);
h++;
// Servo0PwmDuty = 1750;
// Servo1PwmDuty = 1750;
// Servo2PwmDuty = 1750;
// Servo3PwmDuty = 1750;
// DelayMs(1000);
// Servo0PwmDuty = 2000; //45
// Servo1PwmDuty = 2000;
// Servo2PwmDuty = 2000;
// Servo3PwmDuty = 2000;
// DelayMs(1000);
// Servo0PwmDuty = 2250;
// Servo1PwmDuty = 2250;
// Servo2PwmDuty = 2250;
// Servo3PwmDuty = 2250;
// DelayMs(1000);
// Servo0PwmDuty = 2500; //90
// Servo1PwmDuty = 2500;
// Servo2PwmDuty = 2500;
// Servo3PwmDuty = 2500;
// DelayMs(1000);
}
}
void go()
{
{
Servo0PwmDuty = 1500; // 右前腳 1700——1200 ；右前腿 1200——1700 自己改參數(shù)
DelayMs(300); // 延時(shí)0.5秒
Servo1PwmDuty = 1500;
DelayMs(300);
Servo0PwmDuty = 1400; // 脈沖寬度在1000微秒
DelayMs(300);
Servo1PwmDuty = 2000;
DelayMs(300);
}
{
Servo4PwmDuty = 1500; // 左后腳 1700——1200 ；左后腿 1200——1700 自己改參數(shù)
DelayMs(300); // 延時(shí)0.5秒
Servo5PwmDuty = 1500;
DelayMs(300);
Servo4PwmDuty = 1700; // 脈沖寬度在1000微秒，對(duì)應(yīng)-45°
DelayMs(300);
Servo5PwmDuty = 2000;
DelayMs(300);
}
{
Servo2PwmDuty = 1500; // 左前腳 1700——1200 ；右前腿 1200——1700
DelayMs(300); //延時(shí)0.5秒
Servo3PwmDuty = 1500;
DelayMs(300);
Servo2PwmDuty = 1300; //脈沖寬度在1000微秒，對(duì)應(yīng)-45°
DelayMs(300);
Servo3PwmDuty = 1000;
DelayMs(300);
}
{
Servo6PwmDuty = 1500; // 右后腳 1700——1200 ；左后腿 1200——1700
DelayMs(300); //延時(shí)0.5秒
Servo7PwmDuty = 1500;
DelayMs(300);
Servo6PwmDuty = 1700; //脈沖寬度在1000微秒，對(duì)應(yīng)-45°
DelayMs(300);
Servo7PwmDuty = 2000;
DelayMs(300);
}
Servo0PwmDuty=1500;
Servo1PwmDuty=1500;
Servo2PwmDuty=1500;
Servo3PwmDuty=1500;
Servo4PwmDuty=1500;
Servo5PwmDuty=1500;
Servo6PwmDuty=1500;
Servo7PwmDuty=1500;
}
void right()
{
{ Servo0PwmDuty = 1000; // 左前腳 1700——1200 ；左前腿 1200——1700 自己改參數(shù)
DelayMs(200); //延時(shí)0.5秒
Servo1PwmDuty = 1500;
DelayMs(200);
Servo0PwmDuty = 1500; //脈沖寬度在1000微秒，對(duì)應(yīng)-45°
DelayMs(200);
Servo1PwmDuty = 1000;
DelayMs(200); }
DelayMs(200);
{ Servo6PwmDuty = 1500; // 左后腳 1700——1200 ；左后腿 1200——1700
DelayMs(200); //延時(shí)0.5秒
Servo7PwmDuty = 1500;
DelayMs(200);
Servo6PwmDuty = 1000; //脈沖寬度在1000微秒，對(duì)應(yīng)-45°
DelayMs(200);
Servo7PwmDuty = 1000;
DelayMs(200); }
DelayMs(200);
}
void left()
{
{ Servo2PwmDuty = 1500; // 右前腳 1700——1200 ；右前腿 1200——1700
DelayMs(200); // 延時(shí)0.5秒
Servo3PwmDuty = 1000;
DelayMs(200);
Servo2PwmDuty = 1000; // 脈沖寬度在1000微秒，對(duì)應(yīng)-45°
DelayMs(200);
Servo3PwmDuty = 1500;
DelayMs(200); }
DelayMs(200);
{ Servo4PwmDuty = 1000; // 右后腳 1700——1200 ；右后腿 1200——1700 自己改參數(shù)
DelayMs(200); // 延時(shí)0.5秒
Servo5PwmDuty = 1000;
DelayMs(200);
Servo4PwmDuty = 1500; // 脈沖寬度在1000微秒，對(duì)應(yīng)-45°
DelayMs(200);
Servo5PwmDuty = 1500;
DelayMs(200); }
DelayMs(200);
}
void turnright()
{
Servo0PwmDuty=1500; //0
Servo1PwmDuty=1500;
Servo2PwmDuty=1500;
Servo3PwmDuty=1500;
Servo4PwmDuty=1500;
Servo5PwmDuty=1500;
Servo6PwmDuty=1500;
Servo7PwmDuty=1500;
DelayMs(100);
// Servo0PwmDuty = 1750;
// DelayMs(100);
// Servo1PwmDuty = 1750;
// DelayMs(100);
// Servo2PwmDuty = 1750;
// DelayMs(100);
// Servo3PwmDuty = 1750;
// DelayMs(100);
Servo1PwmDuty = 2000; //45
DelayMs(200);
Servo5PwmDuty = 2000; //45
DelayMs(200);
Servo3PwmDuty = 2000; //45
DelayMs(200);
Servo7PwmDuty = 2000; //45
DelayMs(200);
// Servo0PwmDuty = 1750;
// DelayMs(100);
// Servo1PwmDuty = 1750;
// DelayMs(100);
// Servo2PwmDuty = 1750;
// DelayMs(100);
// Servo3PwmDuty = 1750;
// DelayMs(100);
Servo1PwmDuty = 1500; //0
Servo5PwmDuty = 1500; //0
Servo3PwmDuty = 1500; //0
Servo7PwmDuty = 1500; //0
DelayMs(100);
g++;
}
void main()
{
InitTimer0(); //定時(shí)器0初始化
EA = 1; //開總中斷
while(1) //大循環(huán)
{
if(h==0) //起
{
up();
h++;
}
for(g=0;g<10;g++)
{
go();
up();
}
// left();
// right();
// if(g==0) //轉(zhuǎn)彎
// {
// turnright();
// g++;
// }
//
// if(h!=0) //恢復(fù)初態(tài)
// {
// up();
// h++;
// }
}
}
void Timer0_isr(void) interrupt 1 using 1 //時(shí)鐘0中斷處理
{
static uint16 i = 1; //靜態(tài)變量：每次調(diào)用函數(shù)時(shí) $$保持上一次所賦的值$$
//跟全局變量類似，不同是它只能用于此函數(shù)內(nèi)部
switch(i)
{
case 1:
SERVO0 = 1; //PWM控制腳高電平
//給定時(shí)器0賦值，計(jì)數(shù)Pwm0Duty個(gè)脈沖后產(chǎn)生中斷，下次中斷會(huì)進(jìn)入下一個(gè)case語句
Timer0Value(Servo0PwmDuty);
break;
case 2:
SERVO0 = 0; //PWM控制腳低電平
//高脈沖結(jié)束后剩下的時(shí)間(20000-Pwm0Duty)全是低電平了，Pwm0Duty + (20000-Pwm0Duty) = 20000個(gè)脈沖正好為一個(gè)周期20毫秒
Timer0Value(20000-Servo0PwmDuty);
break;
case 3:
SERVO1 = 1; //PWM控制腳高電平
Timer0Value(Servo1PwmDuty);
break;
case 4:
SERVO1 = 0; //PWM控制腳低電平
Timer0Value(20000-Servo1PwmDuty);
break;
case 5:
SERVO2 = 1; //PWM控制腳高電平
Timer0Value(Servo2PwmDuty);
break;
case 6:
SERVO2 = 0; //PWM控制腳低電平
Timer0Value(20000-Servo2PwmDuty);
break;
case 7:
SERVO3 = 1; //PWM控制腳高電平
Timer0Value(Servo3PwmDuty);
break;
case 8:
SERVO3 = 0; //PWM控制腳低電平
Timer0Value(20000-Servo3PwmDuty);
break;
case 9:
SERVO4 = 1; //PWM控制腳高電平
Timer0Value(Servo4PwmDuty);
break;
case 10:
SERVO4 = 0; //PWM控制腳低電平
Timer0Value(20000-Servo4PwmDuty);
break;
case 11:
SERVO5 = 1; //PWM控制腳高電平
Timer0Value(Servo1PwmDuty);
break;
case 12:
SERVO5 = 0; //PWM控制腳低電平
Timer0Value(20000-Servo5PwmDuty);
break;
case 13:
SERVO6 = 1; //PWM控制腳高電平
Timer0Value(Servo6PwmDuty);
break;
case 14:
SERVO6 = 0; //PWM控制腳低電平
Timer0Value(20000-Servo6PwmDuty);
break;
case 15:
SERVO7 = 1; //PWM控制腳高電平
Timer0Value(Servo7PwmDuty);
break;
case 16:
SERVO7 = 0; //PWM控制腳低電平
Timer0Value(20000-Servo7PwmDuty);
i=0;
break;
}
i++;
}
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