单片机控制8路舵机转动一定转角源程序与Proteus仿真图

风吹过后 · 发表于 2022-5-27 10:03

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仿真原理图如下（proteus仿真工程文件可到本帖附件中下载）

可以通过按键控制角度增减，程序和仿真齐全，可以运行，相互交流。

单片机源程序如下:
#include<reg51.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 = P2^1;
sbit SUB = P2^2;

#define uchar unsigned char
#define uint unsigned int

uint t_up0 = 1500;
uint t_up1 = 1500;       //1.5ms
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;
uint t_change = 63036;

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;
            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;
            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; //+￡¿êÇÎaáËμÖÏûÖ′DDóï¾ä»¨μÄê±¼ä
            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;
            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; //+￡¿êÇÎaáËμÖÏûÖ′DDóï¾ä»¨μÄê±¼ä
            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; //+￡¿êÇÎaáËμÖÏûÖ′DDóï¾ä»¨μÄê±¼ä
            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; //+￡¿êÇÎaáËμÖÏûÖ′DDóï¾ä»¨μÄê±¼ä
            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; //+￡¿êÇÎaáËμÖÏûÖ′DDóï¾ä»¨μÄê±¼ä
            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();
      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;
                              }

                     }
            }
      }

}