51单片机单个舵机控制源码

/* 单片机：STC15W4K61S4/IAP15W4K61S4 内部晶振：22.1184 */ #include "stc15.h" //舵机 IO 口定义 用P0的8个IO测试 sbit dj0 = P0^0; sbit dj1 = P0^1; sbit dj2 = P0^2; sbit dj3 = P0^3; sbit dj4 = P0^4; sbit dj5 = P0^5; sbit dj6 = P0^6; sbit dj7 = P0^7; void delay_ms(unsigned int t); //简单的延时 void dj_io_init(void); //舵机 IO 初始化 void dj_io_set(u8 index, u8 level); //舵机 IO 电平设置 void timer1_init(void); //舵机 定时器初始化 void timer1_reset(int t_us); //舵机 定时器初值重装 //舵机脉冲数组 int duoji_pulse[8] = {1500,1500,1500,1500,1500,1500,1500,1500} , i; void main(void) { //IO初始化 dj_io_init(); //舵机定时器初始化 timer1_init(); while (1) { for(i=0;i<8;i++) { duoji_pulse[i] = 1000;//循环把8个舵机位置设定到1000 } delay_ms(1000); for(i=0;i<8;i++) { duoji_pulse[i] = 2000;//循环把8个舵机位置设定到2000 } delay_ms(1000); } } void dj_io_init(void) { //设置标准IO P0M1=0x00; P0M0=0x00; } void dj_io_set(u8 index, u8 level) { switch(index) { case 0:dj0 = level;break; case 1:dj1 = level;break; case 2:dj2 = level;break; case 3:dj3 = level;break; case 4:dj4 = level;break; case 5:dj5 = level;break; case 6:dj6 = level;break; case 7:dj7 = level;break; default:break; } } void delay_ms(unsigned int t) { int t1; while(t--) { t1 = 3000; while(t1--); } } void timer1_init(void) { AUXR |= 0x40; //定时器时钟1T模式 TMOD &= 0x0F; //设置定时器模式 TMOD |= 0x10; //设置定时器模式 TL1 = 0x00; //设置定时初值 TH1 = 0x28; //设置定时初值 TF1 = 0; //清除TF1标志 TR1 = 1; //定时器1开始计时 ET1 = 1; //定时器0开始计时 EA = 1; //总开关 } void timer1_reset(int t_us) { //本来应该x22.1184 但由于单片机用的内部晶振，有一定误差，调整到下面这个值 频率差不多50HZ TL1 = (int)(65536-20.4184*t_us); TH1 = (int)(65536-20.4184*t_us) >> 8; } void T1_IRQ(void) interrupt 3 { static volatile u8 flag = 0; static volatile u8 duoji_index1 = 0; int temp; if(duoji_index1 == 8) { duoji_index1 = 0; } if(!flag) { timer1_reset((unsigned int)(duoji_pulse[duoji_index1])); dj_io_set(duoji_index1, 1); } else { temp = 2500 - (unsigned int)(duoji_pulse[duoji_index1]); if(temp < 20)temp = 20; timer1_reset(temp); dj_io_set(duoji_index1, 0); duoji_index1 ++; } flag = !flag; }