步进电机写字机器人程序

1、步进电机写字机器人程序/* 转动 160 时，为 45 度。 25 时，向前走1cm*/#include#include#define uchar unsigned char #define uint unsigned int sbitdiancitie=P2A3;sbit recept_led=P2A4;sbit K4=P3A2;sbit move_car_led=P2A5; sbit recept_ok=P1A4;sbit ledd=P1A1;sbit key=P2A0;extern bit tingzhi; TOC o 1-5 h z uchar code zheng8=0 x98,0

2、x1c,0 x34,0 x26,0 x62,0 x43,0 xc1,0 x89; /正向旋转相序表uchar code fan8=0 x89,0 xc1,0 x43,0 x62,0 x26,0 x34,0 x1c,0 x98; /反向旋转相序表uchar code zhuan18=0 x99,0 x11,0 x33,0 x22,0 x66,0 x44,0 xcc,0 x88;/转弯1uchar code zhuan28=0 x88,0 xcc,0 x44,0 x66,0 x22,0 x33,0 x11,0 x99;/转弯2uchar code luo_bi8=0 xf8,0 xfc,0 xf4

3、,0 xf6,0 xf2,0 xf3,0 xf1,0 xf9;uchar code qi_bi8=0 xf9,0 xf1,0 xf3,0 xf2,0 xf6,0 xf4,0 xfc,0 xf8;int x,bb;for(x=0;xaa;x+)for(bb=0;bb160;bb+); /1ms 基准延时程序 void qibi()int i,j;for(i=0;i50;i+)for(j=0;j8;j+)P1=qi_bij;delay(2);void luobi()int i,j;for(i=0;i50;i+)for(j=0;j8;j+)P1=luo_bij;delay(3);int gostri

4、ght(int z) int i,j;for(i=0;iz;i+)for(j=0;j8;j+)P0=zhengj;delay(1);int goback(int z) int i,j;for(i=0;iz;i+)for(j=0;j8;j+)P0=fanj;delay(1);int turnleft(int z) / 左转 int i,j;for(i=0;iz;i+)for(j=0;j8;j+)P0=zhuan1j;delay(2);int turnright(int z) / 右转int i,j;for(i=0;iz;i+)for(j=0;j8;j+)P0=zhuan2j;delay(2);i

5、nt turn45du_left(int time) /左转 45 度int dd=0;for(dd=0;ddtime;dd+)turnleft(155);左转 4.5 度int xiao45du_left(int time) /int dd=0;for(dd=0;ddtime;dd+)turnleft(15);int turn45du_right(int time) / 右转 45 度int dd=0;for(dd=0;ddtime;dd+)turnright(155);int xiao45du_right(int time) / 右转 4.5 度int dd=0;for(dd=0;ddti

6、me;dd+)turnright(15);int gostright1cm(int time) / 前进 1cm int dd=0;for(dd=0;ddtime;dd+)gostright(25);int goback1cm(int time) / 后退 1cm int dd=0;for(dd=0;ddtime;dd+)goback(25);void main()while(1) qibi();/turn45du_left(2);gostright1cm(12);luobi();goback1cm(12);qibi(); /1gostright1cm(17);turn45du_right(2

7、);xiao45du_left(1);goback1cm(8);/gostright1cm(10);luobi();goback1cm(10);qibi(); /2gostright1cm(28);/ gostright1cm(10);turn45du_left(2);xiao45du_right(1);/gostright1cm(10);luobi();goback1cm(12);qibi(); /3 gostright1cm(31);/gostright1cm(18);turn45du_left(2);goback1cm(8);/gostright1cm(10);luobi();gobac

8、k1cm(10);qibi(); /4 turn45du_left(2);gostright1cm(2);turn45du_right(2);gostright1cm(9);luobi();goback1cm(6);qibi(); / 1 行 turn45du_left(2);xiao45du_right(1);gostright1cm(5);turn45du_right(2);gostright1cm(6);luobi();goback1cm(6);qibi(); /2 行 turn45du_left(2); gostright1cm(4);turn45du_right(2); gostright1cm(6);luobi();goback1cm(6);qibi(); / gostright1cm(21); turn45du_right(2); goback1cm(10); luobi();goback1cm(8);qibi();gostright1cm(21); tu