【Proteus仿真】51单片机8路舵机点动±90°点动控制

Proteus仿真
Proteus连线图

程序代码

#include<reg52.h>

sbit PWM0 = P1^0;
sbit PWM1 = P1^1;
sbit PWM2 = P1^2;
sbit PWM3 = P1^3;
sbit PWM4 = P1^4;
sbit PWM5 = P1^5;
sbit PWM6 = P1^6;
sbit PWM7 = P1^7;

sbit ADD = P3^6;
sbit SUB = P3^7;

#define uchar unsigned char
#define uint unsigned int

uint t_up0 = 1500;		//舵机PWM高电平时间 1000~2000表示1ms到2ms
uint t_up1 = 1500;
uint t_up2 = 1500;
uint t_up3 = 1500;
uint t_up4 = 1500;
uint t_up5 = 1500;
uint t_up6 = 1500;
uint t_up7 = 1500;

uint t0_h;
uint t0_l;


void delayms(uint ms)
{	
	unsigned char a,b,c;
	while(ms--)
	{		
    for(c=1;c>0;c--)
        for(b=142;b>0;b--)
            for(a=2;a>0;a--);
	}
}
void timer\_init()
{
	EA = 1;
	ET0 = 1;
	PT0 = 1;
	TMOD = 0x11;
	TH0 = (65536 - t_up0)/256;
	TL0 = (65536 - t_up0)%256;
}

uchar t0_flag = 0;
uint num_max = 65535;	//直接用65535 - t\_up 不用变量 - t\_up 时，误差较大，原因暂时不明 【注：65536不能存到uint类型变量中】
uint t_change = 63036;//换路周期2.5ms 8路

uchar error0 = 45;
uchar error1 = 45;
uchar error2 = 52;
uchar error3 = 52;
uchar error4 = 57;
uchar error5 = 57;
uchar error6 = 63;
uchar error7 = 63;
uchar error8 = 70;
uchar error9 = 70;
uchar error10 = 76;
uchar error11 = 76;
uchar error12 = 82;
uchar error13 = 82;
uchar error14 = 88;
uchar error15 = 88;

void timer0() interrupt 1
{
	
	if(t0_flag == 0)
	{
		PWM0 = 1;
		TH0 = (num_max - t_up0 + error0)/256; //+error0是为了抵消执行语句花的时间
		TL0 = (num_max - t_up0 + error0)%256;
		
		t0_flag = 1;
	}
	else if(t0_flag == 1)
	{
		PWM0 = 0;
		TH0 = (t_change + t_up0 +error1)/256;
		TL0 = (t_change + t_up0 +error1)%256;
		
		t0_flag = 2;
	}
	else if(t0_flag == 2)
	{
		PWM1 = 1;
		TH0 = (num_max - t_up1 + error2)/256; //+？是为了抵消执行语句花的时间
		TL0 = (num_max - t_up1 + error2)%256;
		
		t0_flag = 3;
	}
	else if(t0_flag == 3)
	{
		PWM1 = 0;
		TH0 = (t_change + t_up1 +error3)/256;
		TL0 = (t_change + t_up1 +error3)%256;
		
		t0_flag = 4;
	}
	else if(t0_flag == 4)
	{
		PWM2 = 1;
		TH0 = (num_max - t_up2 + error4)/256; //+？是为了抵消执行语句花的时间
		TL0 = (num_max - t_up2 + error4)%256;
		
		t0_flag = 5;
	}
	else if(t0_flag == 5)
	{
		PWM2 = 0;
		TH0 = (t_change + t_up2 +error5)/256;
		TL0 = (t_change + t_up2 +error5)%256;
		
		t0_flag = 6;
	}
	else if(t0_flag == 6)
	{
		PWM3 = 1;
		TH0 = (num_max - t_up3 + error6)/256; //+？是为了抵消执行语句花的时间
		TL0 = (num_max - t_up3 + error6)%256;
		
		t0_flag = 7;
	}
	else if(t0_flag == 7)
	{
		PWM3 = 0;
		TH0 = (t_change + t_up3 +error7)/256;
		TL0 = (t_change + t_up3 +error7)%256;
		
		t0_flag = 8;
	}
	else if(t0_flag == 8)
	{
		PWM4 = 1;
		TH0 = (num_max - t_up4 + error8)/256; //+？是为了抵消执行语句花的时间
		TL0 = (num_max - t_up4 + error8)%256;
		
		t0_flag = 9;
	}
	else if(t0_flag == 9)
	{
		PWM4 = 0;
		TH0 = (t_change + t_up4 +error9)/256;
		TL0 = (t_change + t_up4 +error9)%256;
		
		t0_flag = 10;
	}
	else if(t0_flag == 10)
	{
		PWM5 = 1;
		TH0 = (num_max - t_up5 + error10)/256; //+？是为了抵消执行语句花的时间
		TL0 = (num_max - t_up5 + error10)%256;
		
		t0_flag = 11;
	}
	else if(t0_flag == 11)
	{
		PWM5 = 0;
		TH0 = (t_change + t_up5 + error11)/256;
		TL0 = (t_change + t_up5 + error11)%256;
		
		t0_flag = 12;
	}
	else if(t0_flag == 12)
	{
		PWM6 = 1;
		TH0 = (num_max - t_up6 + error12)/256; //+？是为了抵消执行语句花的时间
		TL0 = (num_max - t_up6 + error12)%256;
		
		t0_flag = 13;
	}
	else if(t0_flag == 13)
	{
		PWM6 = 0;
		TH0 = (t_change + t_up6 + error13)/256;
		TL0 = (t_change + t_up6 + error13)%256;
		
		t0_flag = 14;
	}
	else if(t0_flag == 14)
	{
		PWM7 = 1;
		TH0 = (num_max - t_up7 + error14)/256; //+？是为了抵消执行语句花的时间
		TL0 = (num_max - t_up7 + error14)%256;
		
		t0_flag = 15;
	}
	else if(t0_flag == 15)
	{
		PWM7 = 0;
		TH0 = (t_change + t_up7 + error15)/256;
		TL0 = (t_change + t_up7 + error15)%256;
		
		t0_flag = 0;
	}
	
}
void main()
{
	uint t_while;
	timer\_init();//定时器0初始化
	TR0 = 1;
	while(1)
	{
		
		if(ADD == 0)
		{
			delayms(2);
			if(ADD == 0)
			{
				if(t_up0 <= 1950)
				{
					t_up0 = t_up0 + 50;
					t_up1 = t_up1 + 50;
					t_up2 = t_up2 + 50;
					t_up3 = t_up3 + 50;
					t_up4 = t_up4 + 50;
					t_up5 = t_up5 + 50;
					t_up6 = t_up6 + 50;
					t_up7 = t_up7 + 50;
				}
				
				t_while = 50000;
				while(t_while--)
				{
					if(ADD == 1)
						break;
				}
				
			}
		}
		
		if(SUB == 0)
		{
			delayms(2);
			if(SUB == 0)
			{
				if(t_up0 >= 1050)
				{
					t_up0 = t_up0 - 50;
					t_up1 = t_up1 - 50;
					t_up2 = t_up2 - 50;
					t_up3 = t_up3 - 50;
					t_up4 = t_up4 - 50;
					t_up5 = t_up5 - 50;
					t_up6 = t_up6 - 50;
					t_up7 = t_up7 - 50;
				}
				
				t_while = 50000;
				while(t_while--)
				{
					if(SUB == 1)
						break;
				}
				
			}
		}
	}
	
}

程序源码和仿真资源

1
2
3

链接：https://pan.baidu.com/s/177TsloaIYH0yr3LfAlOxzQ 
提取码：w1s4