经过几天的钻研和调试，终于在51单片机上实现了二轴联动，通过调用line(x1,y1,x2,y2,v)函数以及cytu（x1,y1,x2,a,b,r,v）和cyao（x1,y1,x2,a,b,r,v）三个命令便可实现任意圆弧和直线的插补，注意任意二字，比如直线命令，可以是水平线可以是竖直线，可以是从左往右也可从右往左，可以当做一个绘图仪使用，如果愿意进一步升级，简单修改加个Z轴做成数控铣床的控制器亦未尝不可。下面是整个源程序，有兴趣的可以参考参考。
#include <REG51.h>
#include <FLOAT.h>
#include <MATH.h>
sbit mai0=P1^0;
sbit mai1=P1^1;
sbit shuru=P0^0;
sbit dir0=P1^6;
sbit dir1=P1^7;
void delay(unsigned int t){
unsigned int g;
while(t!=0){
for(g=0;g++;g<600);
t--;
}
}
void mc_p0(signed long m0,unsigned int n0)
{if(m0<0){
m0=-m0;
dir0=1;
}
else{dir0=0;}
while(m0--!=0){
mai0=0;
delay(n0/2);
mai0=1;
delay(n0/2);
}
}
void mc_p1(signed long m1,unsigned int n1)
{if(m1<0){
m1=-m1;
dir1=1;
}
else{dir1=0;}
while(m1--!=0){mai1=0;
delay(n1/2);
mai1=1;
delay(n1/2);
}
}
void line(float x0,float y0,float x1,float y1,unsigned int v0){
float k=0;
float x=0;
float y=0;
float ys=0;
signed long yc=0;
x=x0;
ys=y0;
k=(y1-y0)/(x1-x0);
if(x0==x1){
mc_p1((y1-y0)*2,50000/v0);}
if(y0==y1){
mc_p0((x1-x0)*2,50000/v0);}
if((x0!=x1)&&(y0!=y1)){
if(x0<x1){ while(x<x1){
mc_p0(2,50000/v0);
x=x+1;
y=k*(x-x1)+y1;
yc=y-ys;
ys=y;
mc_p1(yc*2,50000/v0);
}
}
if(x0>x1){ while(x>x1){
mc_p0(-2,50000/v0);
x=x-1;
y=k*(x-x1)+y1;
yc=y-ys;
ys=y;
mc_p1(yc*2,50000/v0);
}
}
}
}
void cytu(float x3,float y3,float x4,float a1,float b1,
float r1,unsigned int v1){
float xx;
float yy;
float yys;
signed int yyc;
xx=x3;
yys=y3;
if(x3<x4){
while(xx<x4){
mc_p0(2,50000/v1);
xx=xx+1;
yy=b1+sqrt(r1*r1-(xx-a1)*(xx-a1));
yyc=yy-yys;
yys=yy;
mc_p1(yyc*2,50000/v1);
}
}
if(x3>x4){
while(xx>x4){
mc_p0(-2,50000/v1);
xx=xx-1;
yy=b1+sqrt(r1*r1-(xx-a1)*(xx-a1));
yyc=yy-yys;
yys=yy;
mc_p1(yyc*2,50000/v1);
}
}
}
void cyao(float x5,float y5,float x6,float a2,float b2,
float r2,unsigned int v2){
float xxx;
float yyy;
float yyys;
signed int yyyc;
xxx=x5;
yyys=y5;
if(x5<x6){
while(xxx<x6){
mc_p0(2,50000/v2);
xxx=xxx+1;
yyy=b2-sqrt(r2*r2-(xxx-a2)*(xxx-a2));
yyyc=yyy-yyys;
yyys=yyy;
mc_p1(yyyc*2,50000/v2);
}
}
if(x5>x6){
while(xxx>x6){
mc_p0(-2,50000/v2);
xxx=xxx-1;
yyy=b2-sqrt(r2*r2-(xxx-a2)*(xxx-a2));
yyyc=yyy-yyys;
yyys=yyy;
mc_p1(yyyc*2,50000/v2);
}
}
}
void main (void){
while(1){
while(shuru==0){
line(0,0,10,10,5); //直线命令，调用格式line(起点坐标x1,y1,终点坐标x2,y2,速度v)
delay(100000); //延时
line(10,10,0,0,5);
delay(100000);
line(0,0,-20,0,5);
delay(60000);
cytu(-20,0,20,0,0,20,5); //位于本身圆心上面的圆弧命令，调用格式cytu(起点x1,y1,终点x2,圆心a,b,半径r，速度v)
delay(60000);
cyao(20,0,60,40,0,20,5); //位于本身圆心下面的圆弧命令，调用格式cyao(起点x1,y1,终点x2,圆心a,b,半径r，速度v)
delay(60000);
cytu(60,0,20,40,0,20,5);
delay(60000);
cyao(20,0,-20,0,0,20,5); }
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