51單片機控制舵機總框

ID:148905 · 發表于 2016-11-19 20:43

大概寫了一下控制程序希望對你們有幫助

tpyedef i8 signed char
tpyedef u8 unsigned char
tpyedef i16 signed short int
tpyedef u16 unsigned short int
tpyedef i32 signed long int
tpyedef u32 unsigned long int
#define ELEVEL_LOW 0 //低電平
#define ELEVEL_HIGH 1 //高電平
#define TIMER_INIT 10 //定時器初始時間單位US
#define STRENG_MINTIME 500 //舵機最小角度時間 0.5MS
#define STRENG_MAXTIME 2500 //舵機最大角度時間 2.5MS
#define STRENG_TIMERPRO 20000 //舵機周期 20MS
#define STRENG_MINANGLE 0 //最小角度
#define STRENG_MAXANGLE 185 //最大角度
#define IO_STRENG10 // PORT引腳
#define IO_STRENG20
#define IO_STRENG30
#define IO_STRENG40
#define IO_STRENG50
#define IO_STRENG60
#define IO_STRENG11
#define IO_STRENG21
#define IO_STRENG31
#define IO_STRENG41
#define IO_STRENG51
#define IO_STRENG61
u16 TimerCount = 0; //計數值
float StrEngAccu = 0; //舵機精度
u16 StrEngZeroAngle = 0; //零度對應的時間
void StrEngTimer0_Init(void) //定時器初始化
{
StrEngAccu = STRENG_MAXANGLE/((STRENG_MAXTIME - STRENG_MINTIME)/TIMER_INIT);
StrEngZeroAngle = STRENG_TIMEUS/TimerInitValue;
TH0 = (65535 - TIMER_INIT)/256;
TL0 = (65535 - TIMER_INIT);
EA = 1;
ET0 = 1;
TR0 = 1;
}
void STRENG_AngleControl(u8 angle,sbit *io)// 0-185角度控制
{
float regdat = 0;
u16 angletime = 0;
regdat = (float)angle;
angletime = (u16)(regdat/StrEngAccu) + (STRENG_MINTIME/TIMER_INIT);
if(angletime > TimerCount)
{
*io = ELEVEL_HIGH;
}
else
{
*io = ELEVEL_LOW;
}
}
void timer0(void) interrupt 0
{
TimerCount ++;
TH0 = (65535 - TIMER_INIT)/256;;
TL0 = (65535 - TIMER_INIT);
if(TimerCount > (STRENG_TIMERPRO/TIMER_INIT))
{
TimerCount = 0;
}
}

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51單片機控制舵機 總框

51單片機控制舵機總框