51单片机机械手控制C程序学习资料

1、51单片机机械手控制C程序/包含所需头文件#include#defineucharunsignedcharvoidt0(void)interrupt0using0/按键按下触发中断服务程序(/flag_start=1;).延时函数S*/voiddelay(unsignedcharm)(unsignedchari,j,k;m=m*100;for(i=m;i0;i-)for(j=20;j0;j-)for(k=248;k0;k-);)/*宏定义*/sbitqigang_left=P0A0;气缸sbitqigang_right=P0A1；sbitqigang_up=P0A2;sbitqigang_do

2、wn=P0A3;sbitqigang_behind=P0A4;sbitqigang_front=P0A5;sbitqigang_grasp=P0A6;sbitqigang_loose=P0A7;sbitjourney_left=P1A0;sbitjourney_right=P1A1;sbitjourney_up=P1A2;sbitjourney_down=P1A3;sbitjourney_behind=P1A4;sbitjourney_front=P1A5;sbitflag_start=P3A2;/传感器开关/启动按钮/*中断*/*施时子m秒子程序主函数*/voidmain()qigang_l

3、eft=1;qigang_right=1;qigang_front=1;qigang_behind=1;qigang_up=1;qigang_down=1;qigang_grasp=1;qigang_loose=1;中断初始化*/IT0=1;/下降沿触发EX0=1;EA=1;if(flag_start=0).while(1)qigang_left=0;/机械手左移while(1)/左移死循环，等待下面的传感器开关if(journey_left=0)左面的传感器开关接通qigang_left=1;/停止左移qigang_front=0;/机械手前移while(1)/前移死循环，等待前面的传感器开

4、关if(journey_front=0)/前面的传感器开关接通(qigang_front=1;/停止前移/*/*qigang_down=0;/用1械手下降while(1)/下降死循环，等待下面的传感器开关(if(journey_down=0)/下面的传感器开关接通(qigang_down=1;/停止下降qigang_grasp=0;/机械手抓取delay(1);伽取延时qigang_up=1;开始上升while(1)/上升死循环，等待上面的传感器开关(if(journey_up=0)/上面的传感器开关接通(qigang_up=1;停止上升if(journey_right=0)qigang_right=1;qigang_behind=0;while(1)(if(journey_behind=0)(qigang_behind=1;qigang_down=0;while(1)(if(journey_down=0)(qigang_down=1;qigang_loose=0;delay(1);qigang_up=1;while(1)(if(journey_up=0)(qigang_right=0;向右移动whi