标题: 舞蹈机器人步进机仿真+源程序+仿真文件 [打印本页]
作者: 草棚    时间: 2018-5-24 09:00
标题: 舞蹈机器人步进机仿真+源程序+仿真文件
舞蹈机器人步进机仿真原理图如下（proteus仿真工程文件可到本帖附件中下载）



单片机源程序如下:
  1. #include "reg51.h"
  2. #include "intrins.H"
  3. //8步式步进电机脉冲序列
  4. //unsigned char steps[8] = {0x77,0x33,0xbb,0x99,0xdd,0xcc,0xee,0x66};
  5. unsigned char steps[8] = {0x2,0x6,0x4,0xc,0x8,0x9,0x1,0x3};
  6. //当前各电机在上述序列中的位置
  7. unsigned char cur_step[8] = {0,0,0,0,0,0,0,0};
  8. //这个文件用于记录舞步信息序列
  9. char speed_tickers[8] = {0,0,0,0,0,0,0,0};
  10. //从上述文件中读出的当前舞步信息
  11. unsigned char speeds[8] = {0,0,0,0,0,0,0,0};
  12. unsigned char data_pointer = 0;//指向舞步数据的指针
  13. unsigned char time_t = 0;//指定重新读取一次 speeds 值的计时周期
  14. code char dancedata[] = {54,15,12,12,87,95,65,45,-89,-88,-54,-54,54,68,-45,-65,-65,-48,101,121,115,117,19,
  15. -98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,109,104,-30,-102,-104,-106,110,100,
  16. 54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,-24,-98,95,102,102,
  17. 100,130,30,10,-90,-120,87,102,102,100,130,30,10,-90,-120,87,102,103,105,54,15,12,12,87,95,65,45,-89,-88,-54,
  18. -98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,45,-89,-88,-54,
  19. -98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,109,104,-30,-102,-104,-106,110,
  20. 100,130,30,10,-90,-120,87,102,102,100,130,30,10,-90,-120,87,-120,87,102,103,105,109,104,-30,-102,-104,-106,110,
  21. 54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,-24,-98,95,102,102,
  22. 54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,-24,-98,95,102,102,
  23. 54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,-24,-98,95,102,102,
  24. 54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,-24,-98,95,102,102,
  25. -98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,45,-89,-88,-54,
  26. -98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,45,-89,-88,-54,
  27. -98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,45,-89,-88,-54,
  28. };
  29. code char pin[8] = {1,2,4,8,16,32,64,128};
  30. char MAX_SPEED_TICKER = 120;
  31. unsigned char i; //电机序号

  33. void InitTimer(void) //初始化计数器
  34. {
  35.   TH0 = 0xFA;  //设置触发周期:1000次
  36.   TL0 = 0x24;
  37.   TMOD = TMOD |0x01;  //select mode 1
  38.   TR0 = 1; //start timer0
  39.   ET0 = 1; //enable timer 0 interrupt
  40.   EA =1; //global interrupt enable
  41. }

  43. void SetAllSpeeds(void)  //设置各电机的速度,并让它运动起来
  44. {
  45.   char delta;  //旋转方向 1:正 -1:反  0:停
  46.   for(i=0;i<8;i++)
  47.   {
  48.     P2=pin[i]; //发送锁存信号
  49.     speed_tickers[i] += speeds[i]; //计数值增加 speed[i]越高,增加得越多
  50.     if(speed_tickers[i] >= MAX_SPEED_TICKER) //如果计数值超过预定最大值,就发送脉冲
  51.     {
  52.       speed_tickers[i] = 0;
  53.       delta = 1;
  54.     }
  55.     else if(speed_tickers[i] <= -MAX_SPEED_TICKER) //同上,反响旋转
  56.     {
  57.       speed_tickers[i] = 0;
  58.       delta = -1;
  59.     }
  60.     else delta = 0;
  61.     cur_step[i] += delta;
  62.     cur_step[i] &= 0x07; //计算当前应发脉冲
  63.     P0 = steps[cur_step[i]];
  64.     P2 = 0;
  65.   }
  66. }

  68. void OnTimer(void) interrupt 1 using 2
  69. {
  70.   unsigned char j;
  71.   SetAllSpeeds();
  72.   InitTimer();
  73.   time_t++;
  74.   if(time_t==200) //每200次触发读取一次新舞步数据
  75.   {
  76.     for(j=0;j<8;j++)
  77.       speeds[j] = dancedata[data_pointer+j];
  78.     data_pointer += 8;
  79.     time_t = 0;
  80.   }
  81. }

  83. void main()  //程序的入口
  84. {
  85.   InitTimer();  //初始化后等中断
  86.   while(1);
  87. }
  88.    
复制代码

所有资料51hei提供下载:
舞蹈机器人步进机仿真.zip (61.59 KB, 下载次数: 30)


作者: feiji666    时间: 2018-5-25 13:53
值的收藏了
作者: HWL0541    时间: 2018-5-30 10:35
真不错的资料



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