里面利了用直流电机
#include <reg51.h>
#include<intrins.h>
#define uchar unsigned char
sbit ENA=P1^0;
sbit IN1=P1^1;
sbit IN2=P1^2;
sbit ENB=P1^3;
sbit IN3=P1^4;
sbit IN4=P1^5;
unsigned char count=0, start=0,a=0,b=0;
sbit keyAadd=P2^0;//按键加占空比
sbit keyAsub=P2^1;//按键减占空比
sbit keyBadd=P2^2;
sbit keyBsub=P2^3;
sbit keyAstop=P2^4;//按键加占空比
sbit keyBstop=P2^5;//按键减占空比
sbit keyup=P2^6;
sbit keydown=P2^7;
unsigned char MOTOA=0,MOTOB=0;
char pwm_A_val =210;//左电机占空比值 取值范
char pwm_B_val =210;//右电机占空比值取值范围0-170 ,
unsigned char pwm_t;//周期
#define dula P0 //段选信号的锁存器控制
#define wela P3 //位选信号的锁存器控制,这里只用到P2.4-P2.7
unsigned char j,k,c1,c0,m,n=255;
unsigned char pp;
unsigned char code weitable[]={0x8f,0x4f,0x2f,0x1f};
//数码管各位的码表
unsigned char code table[]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,
0x07,0x7f,0x6f,0x77,0x7c,0x39,0x5e,0x79,0x71};
void delay(unsigned char i)
{
for(j=i;j>0;j--)
for(k=125;k>0;k--);
}
void display1(uchar wei,uchar shu)//在任意一位显示任意的数字
{
wei=wei-1;
wela|=0xf0;//给P2.4-P2.7置1
P0=table[shu];
wela=wela&weitable[wei];//给P3需要显示的那一位置1，其他置0
delay(5);
}
void display(unsigned char a,unsigned char b)
{ //一次显示4个数字，且每位显示数字可自定。
display1(2,a);
display1(1,b);
}
void delay1ms(unsigned int x) //误差 0us
{
unsigned int a,b,c;
for(c=x;c>0;c--)
for(b=142;b>0;b--)
for(a=2;a>0;a--);
}
void delay1s(void) //误差 -0.000000000227us
{
unsigned char a,b,c;
for(c=13;c>0;c--)
for(b=247;b>0;b--)
for(a=142;a>0;a--);
_nop_(); //if Keil,require use intrins.h
}
void keyscan1()
{
if(keyAadd==0)
{
delay1ms(5);
if(keyAadd==0)
{
while(!keyAadd){};
delay1ms(5);
while(!keyAadd){};
MOTOB=2;
}
}
if(keyAsub==0)
{
delay1ms(5);
if(keyAsub==0)
{
while(!keyAsub){};
delay1ms(5);
while(!keyAsub){};
MOTOA=2;
}
}
if(keyBadd==0)
{
delay1ms(5);
if(keyBadd==0)
{
while(!keyBadd){};
delay1ms(5);
while(!keyBadd){};
MOTOB=1;
}
}
if(keyBsub==0)
{
delay1ms(5);
if(keyBsub==0)
{
while(!keyBsub){};
delay1ms(5);
while(!keyBsub){};
MOTOA=1;
}
}
if(keyAstop==0)
{
delay1ms(5);
if(keyAstop==0)
{
while(!keyAstop){};
delay1ms(5);
while(!keyAstop){};
MOTOA=0;
}
}
if(keyBstop==0)
{
delay1ms(5);
if(keyBstop==0)
{
while(!keyBstop){};
delay1ms(5);
while(!keyBstop){};
MOTOB=0;
}
}
if(keyup==0)
{
delay1ms(5);
if(keyup==0)
{
while(!keyup){};
delay1ms(5);
while(!keyup){};
a=1;
}
}
if(keydown==0)
{
delay1ms(5);
if(keydown==0)
{
while(!keydown){};
delay1ms(5);
while(!keydown){};
count++;
}
}
}
void forward()
{
if(MOTOA==0)
{
IN1=0;
IN2=0;
}
if(MOTOB==0)
{
IN3=0;
IN4=0;
}
if(MOTOA==1)
{
IN1=0;
IN2=1;
}
if(MOTOA==2)
{
IN1=1;
IN2=0;
}
if(MOTOB==1)
{
IN3=0;
IN4=1;
}
if(MOTOB==2)
{
IN3=1;
IN4=0;
}
}
void main(void)
{
TMOD|= 0x02;
TH0 = 220;
TL0 = 220;
TR0 = 1;
ET0 = 1;
EA = 1;
TMOD|=0x10; //模式设置，00000001，可见采用的是定时器0，工作与模式1（M1=0，M0=1）。
TR1=1; //打开定时器
TH1=(65536-46080)/256;// 由于晶振为11.0592,故所记次数应为46080，计时器每隔50000微秒发起一次中断。
TL1=(65536-46080)%256;//46080的来历，为50000*11.0592/12
ET1=1; //开定时器0中断
EA=1; //开总中断
while(1)
{
pwm_A_val =210;
pwm_B_val =210;
keyscan1();
forward();
if(pp==20)
{ pp=0;
m++;
n--;
if(m==60)
{
m=0; //若到了60s，则归零
}
}
c0=m%10; //取出当前描述的个位与十位
c1=m/10;
display(c1,c0); //显示
if(count==5)
count=0;
switch(count)
{
case 0:
{
break;}
case 1:
{
}
break;
case 2:
if(a==0)
{
m=0;
pwm_A_val =50;
pwm_B_val =65;
IN3=1;
IN4=0;
IN1=0;
IN2=1;
delay1ms(40);
pwm_A_val =50;
pwm_B_val =60;
IN3=0;
IN4=0;
IN1=0;
IN2=0;
delay1ms(50);
IN3=0;
IN4=1;
IN1=1;
IN2=0;
delay1ms(40);
a=1;
}
break;
case 3:
if(b==0)
{
m=0;
pwm_A_val =50;
pwm_B_val =65;
IN3=0;
IN4=0;
IN1=0;
IN2=1;
delay1ms(45);
pwm_A_val =50;
pwm_B_val =60;
IN3=0;
IN4=0;
IN1=0;
IN2=0;
delay1ms(33);
IN3=0;
IN4=0;
IN1=1;
IN2=0;
delay1ms(45);
IN3=0;
IN4=0;
IN1=0;
IN2=0;
delay1s();
delay1s();/***停留在4***/
delay1s();
pwm_A_val =50;
pwm_B_val =65;
IN3=1;
IN4=0;
IN1=0;
IN2=0;
delay1ms(40);
pwm_A_val =50;
pwm_B_val =60;
IN3=0;
IN4=0;
IN1=0;
IN2=0;
delay1ms(33);
IN3=0;
IN4=1;
IN1=0;
IN2=0;
delay1ms(45);
b=1;
}
break;
}
}
}
void timer0() interrupt 1
{
pwm_t++;
if(pwm_t == 255)
pwm_t = ENA = ENB = 0;
if(pwm_A_val== pwm_t)
ENA = 1;
if(pwm_B_val == pwm_t)
ENB = 1;
}
void time0() interrupt 3
{TH1=(65536-46080)/256;
TL1=(65536-46080)%256;
pp++;
}
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