按键控制步进电机------手把手教你学单片机历程课

ID:327205 · 发表于 2018-5-10 22:16

#include<reg52.h>

sbit KEY_IN_1 = P2^4;
sbit KEY_IN_2 = P2^5;
sbit KEY_IN_3 = P2^6;
sbit KEY_IN_4 = P2^7;
sbit KEY_OUT_1 = P2^3;
sbit KEY_OUT_2 = P2^2;
sbit KEY_OUT_3 = P2^1;
sbit KEY_OUT_4 = P2^0;

unsigned char KeySta[4][4] ={
{1,1,1,1},{1,1,1,1},{1,1,1,1},{1,1,1,1}
};

unsigned char code KeyCodeMap[4][4] = {
{0x31, 0x32, 0x33, 0x26},
{0x34, 0x35, 0x36, 0x25},
{0x37, 0x38, 0x39, 0x28},
{0x30, 0x1B, 0x0D, 0x27}
};

signed long beats = 0; //单机转动节拍总数

void KeyDriver();
void main()
{
EA = 1;
TMOD = 0x01;
TH0 = 0xFC;
TL0 = 0x67;
ET0 = 1;
TR0 = 1;

while(1)
{
   KeyDriver();
}
}

void StartMotor(signed long angle)
{
EA = 0;
beats = (angle*4067) / 360;
EA = 1;
}

void StopMotor()
{
    EA = 0;
beats = 0;
EA = 1;
}

void KeyAction(unsigned char keycode)
{
  static bit  dirMotor = 1;  //电机转动方向

  if ((keycode >= 0x30) && (keycode <= 0x39))
{
   if (dirMotor == 0)
   {
         StartMotor(360 * (keycode-0x30));
   }
   else
      {
   StartMotor(-360* (keycode-0x30));
}

}
else if (keycode == 0x26)
{
   StartMotor(10);
}
else if (keycode == 0x28)
{
   StartMotor(180);
}
else if (keycode == 0x25)
{
   StartMotor(90);
}
else if (keycode == 0x27)
{
   StartMotor(-90);
}
else if (keycode == 0x1B)
{
   StopMotor();
}
}

void KeyDriver()
{
unsigned char i, j;
static unsigned char backup[4][4] = {
        {1,1,1,1},{1,1,1,1},{1,1,1,1},{1,1,1,1}
};
for(i=0; i<4; i++)
   {
   for (j=0; j<4; j++)
      {
   if(backup[i][j] != KeySta[i][j])
      {
if(backup[i][j] == 0)
   {
KeyAction(KeyCodeMap[i][j]);
   }
backup[i][j] = KeySta[i][j];
   }
      }
   }
}

void TurnMotor()
{
unsigned char  tmp;
static unsigned index = 0;
unsigned char code BeatCode[8] = {
   0x0E, 0x0C, 0x0D, 0x09, 0x0B, 0x03, 0x07, 0x06
};

if (beats != 0)
{
   if (beats > 0)
   {
      index++;
   index = index & 0x07;
   beats--;
   }
   else
   {
      index--,
      index = index & 0x07;
   beats++;
   }
   tmp = P1;
   tmp = tmp & 0xF0;
   tmp = tmp | BeatCode[index];
   P1 = tmp;
}
else
{
   P1 = 0x0F;
}
}

void KeyScan()
{
unsigned char i;
static unsigned char keyout = 0;
static unsigned char keybuf[4][4] = {
      {0xFF, 0xFF, 0xFF, 0xFF},  {0xFF, 0xFF, 0xFF, 0xFF},
      {0xFF, 0xFF, 0xFF, 0xFF},  {0xFF, 0xFF, 0xFF, 0xFF}
};

keybuf[keyout][0] = (keybuf[keyout][0] <<1) | KEY_IN_1;
keybuf[keyout][1] = (keybuf[keyout][1] <<1) | KEY_IN_2;
keybuf[keyout][2] = (keybuf[keyout][2] <<1) | KEY_IN_3;
keybuf[keyout][3] = (keybuf[keyout][3] <<1) | KEY_IN_4;

for (i=0; i<4; i++)
{
   if ((keybuf[keyout][i] & 0x0F) == 0x00)
   {
      KeySta[keyout][i] = 0;
   }
   else if ((keybuf[keyout][i] & 0x0F) == 0x0F)
   {
      KeySta[keyout][i] = 1;
   }
}

keyout++;
keyout = keyout & 0x03;
switch (keyout)
{
   case 0: KEY_OUT_4 = 1; KEY_OUT_1 = 0; break;
   case 1: KEY_OUT_1 = 1; KEY_OUT_2 = 0; break;
   case 2: KEY_OUT_2 = 1; KEY_OUT_3 = 0; break;
   case 3: KEY_OUT_3 = 1; KEY_OUT_4 = 0; break;
   default: break;
}
}

void InterruptTimer0() interrupt 1
{
static bit div = 0;

TH0 = 0xFC;
TL0 = 0x67;
KeyScan();
div = ~div;
if (div ==1)
{
   TurnMotor();
}
}

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按键控制步进电机------手把手教你学单片机 历程课

按键控制步进电机------手把手教你学单片机历程课