单片机源程序如下:
- /***********************************************************************************
- * 标题: 步进电机+上位机 控制正反转和加减速 *
- * *
- * 通过本例程了解步进马达使用及驱动程序编写 *
- *; 单双八拍工作方式: *
- *; A-AB-B-BC-C-CD-D-DA *
- * * *
- **************************************************************************************/
- //接线方法:请你一定要看,步进电机杜邦线接方法 步进电机模块上“-”接到开发板上的GND “+接VCC
- //IN1~IN4 分别接到P1.0~P1.3”
-
- #include "reg52.h"
- #include <string.h>
- void delay(unsigned int t);
- //Motor
- sbit F1 = P1^0;
- sbit F2 = P1^1;
- sbit F3 = P1^2;
- sbit F4 = P1^3;
- unsigned char code FFW[8]={0xfe,0xfc,0xfd,0xf9,0xfb,0xf3,0xf7,0xf6}; //反转
- unsigned char code FFZ[8]={0xf6,0xf7,0xf3,0xfb,0xf9,0xfd,0xfc,0xfe}; //正转
- unsigned char g_Speed = 10; //最慢,1为最快
- unsigned char g_State = 0; //0: 停止, 1为正转,2为反转
- /*协议定义*/
- bit startBit = 0; //串口接收开始标志位
- bit newLineReceived = 0; //串口一帧协议包接收完成
- unsigned char inputString[50]; //接收数据协议
- /**********************************************************************
- * *
- * 步进电机驱动 *
- * *
- ***********************************************************************/
- void motor_ffw()
- {
- unsigned char i;
- unsigned int j;
- for (j=0; j<64; j++)
- {
- for (i=0; i<8; i++)
- {
- if(g_State==1) P1 = FFW[i]&0x1f; //取数据
- if(g_State==2) P1 = FFZ[i]&0x1f;
- delay(g_Speed); //调节转速
- }
- }
- }
- /******************************************************
- *
- * 延时程序
- *
- ********************************************************/
- void delay(unsigned int t)
- {
- unsigned int k;
- while(t--)
- {
- for(k=0; k<80; k++)
- { }
- }
- }
- //串口初始化
- void ComInit(void)
- {
-
- SCON = 0x50; // SCON: 模式1, 8-bit UART, 使能接收
- TMOD |= 0x20;
- TH1=0xfd; //波特率9600 初值
- TL1=0xfd;
- TR1= 1;
- EA = 1; //开总中断
- ES= 1; //打开串口中断
- }
- //串口发送函数
- /*void PutString(unsigned char *TXStr)
- {
- ES=0;
- while(*TXStr!=0)
- {
- SBUF=*TXStr;
- while(TI==0);
- TI=0;
- TXStr++;
- }
- ES=1;
- }*/
- void Protocol(void)
- {
- while (newLineReceived) //协议数据接收完毕一包
- {
- //判断是否是51的协议
- if(inputString[1] != '5' || inputString[2] != '1')
- {
- newLineReceived = 0;
- memset(inputString, 0x00, sizeof(inputString));
- break;
- }
- //判断是否是Step motor的协议数据
- if(inputString[4] != 'S' && inputString[5] != 'M' && inputString[6] != 'T')
- {
- newLineReceived = 0;
- memset(inputString, 0x00, sizeof(inputString));
- break;
- }
- if(inputString[8] == '1') //加速
- {
- g_Speed--;
- if(g_Speed == 0)
- g_Speed = 1;
-
- }
- else if(inputString[8] == '2') //减速
- {
- g_Speed++;
- if(g_Speed > 10)
- g_Speed = 10;
-
- }
-
- //读取功能执行
- if(inputString[7] == '0') //停止
- {
- g_State = 0;
- newLineReceived = 0;
- memset(inputString, 0x00, sizeof(inputString));
- break;
- }
- else if(inputString[7] == '1') //顺转
- {
- g_State = 1;
- newLineReceived = 0;
- memset(inputString, 0x00, sizeof(inputString));
- break;
- }
- else if(inputString[7] == '2') //逆转
- {
- g_State = 2;
- newLineReceived = 0;
- memset(inputString, 0x00, sizeof(inputString));
- break;
- }
-
- newLineReceived = 0;
- memset(inputString, 0x00, sizeof(inputString));
- }
- }
- void main()
- {
- ComInit();
- P1 = 0xff;
- while(1)
- {
-
- if(g_State != 0 )
- {
- motor_ffw();
- }
- }
- }
- /******************************************************************/
- /* 串口中断程序*/
- /******************************************************************/
- void UART_SER () interrupt 4
- {
- unsigned char n; //定义临时变量
- static int num = 0;
- if(RI) //判断是接收中断产生
- {
- RI = 0; //标志位清零
- n = SBUF; //读入缓冲区的值
- //control=n;
- if(n ==
- )
- {
- startBit = 1;
- num = 0;
- }
- if(startBit == 1)
- {
- inputString[num] = n;
- num++;
- }
- if (n == '#')
- {
- newLineReceived = 1;
- startBit = 0;
- Protocol();
- }
-
- if(num >= 50)
- {
- num = 0;
- startBit = 0;
- newLineReceived = 0;
- }
- }
- }
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程序 步进电机.zip
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