舵机控制程序1.doc

舵机控制程序8路舵机控制器 芯片：at89s52晶振：12mhz=*/i nclude#define uint8 unsigned char#define uint16 unsigned intsbit key1=p14;sbit key2=p15;/pwm的输出端口sbit pwm_out0=p00;sbit pwm_out1=p01;sbit pwm_out2=p02;sbit pwm_out3=p03;sbit pwm_out4=p04;sbit pwm_out5=p05;sbit pwm_out6=p06;sbit pwm_out7=p07;/pwm的数据值uint16 pwm_value8=1500,1000,1500,1000,1750,2000,2500,2000;uint8 order1; /定时器扫描序列/*= 定时器t0的中断服务程序 一个循环20ms = 8*2.5ms=*/void timer0(void) interrupt 1 using 1switch(order1)case 1: pwm_out0=1; th0=-pwm_value0/256; tl0=-pwm_value0%256; break;case 2: pwm_out0=0; th0=-(2700-pwm_value0)/256; tl0=-(2700-pwm_value0)%256; break;case 3: pwm_out1=1; th0=-pwm_value1/256; tl0=-pwm_value1%256; break;case 4: pwm_out1=0; th0=-(2700-pwm_value1)/256; tl0=-(2700-pwm_value1)%256; break;case 5: pwm_out2=1; th0=-pwm_value2/256; tl0=-pwm_value2%256; break;case 6: pwm_out2=0 ; th0=-(2700-pwm_value2)/256; tl0=-(2700-pwm_value2)%256; break;case 7: pwm_out3=1; th0=-pwm_value3/256; tl0=-pwm_value3%256; break;case 8: pwm_out3=0; th0=-(2700-pwm_value3)/256; tl0=-(2700-pwm_value3)%256; break;case 9: pwm_out4=1; th0=-pwm_value4/256; tl0=-pwm_value4%256; break;case 10: pwm_out4=0; th0=-(2700-pwm_value4)/256; tl0=-(2700-pwm_value4)%256; break;case 11: pwm_out5=1; th0=-pwm_value5/256; tl0=-pwm_value5%256; break;case 12: pwm_out5=0; th0=-(2700-pwm_value5)/256; tl0=-(2700-pwm_value5)%256; break;case 13: pwm_out6=1; th0=-pwm_value6/256; tl0=-pwm_value6%256; break;case 14: pwm_out6=0; th0=-(2700-pwm_value6)/256; tl0=-(2700-pwm_value6)%256; break;case 15: pwm_out7=1; th0=-pwm_value7/256; tl0=-pwm_value7%256; break;case 16: pwm_out7=0; order1=0; th0=-(2700-pwm_value7)/256; tl0=-(2700-pwm_value7)%256; order1=0; break; default : order1=0; order1+;/*=初始化中断=*/void initpwm(void) order1=1; tmod |=0x11; th0=-1500/256; tl0=-1500%256; ea=1; ex0=0; et0=1; tr0=1;pt0=1;px0=0;void delay(void) uint16 i=100