带插补计算的四象限步进电机控制仿真与单片机源程序 -

#include<reg51.h>
#define uint unsigned int
#define uchar unsigned char
sbit KEY1=P1^0;
sbit KEY2=P1^1;
sbit KEY3=P1^2;
sbit KEY4=P1^3;
sbit KEY5=P1^4;
sbit KEY6=P1^5;
sbit KEY7=P1^6;
uchar code motor_1[]={0x01,0x03,0x02,0x06,0x04,0x0c,0x08,0x09,
0x10,0x30,0x20,0x60,0x40,0xc0,0x80,0x90}; //第一象限
uchar code motor_2[]={0x08,0x0c,0x04,0x06,0x02,0x03,0x01,0x09,
0x10,0x30,0x20,0x60,0x40,0xc0,0x80,0x90}; //第二象限
uchar code motor_3[]={0x08,0x0c,0x04,0x06,0x02,0x03,0x01,0x09,
0x80,0xc0,0x40,0x60,0x20,0x30,0x10,0x90}; //第三象限
uchar code motor_4[]={0x01,0x03,0x02,0x06,0x04,0x0c,0x08,0x09,
0x80,0xc0,0x40,0x60,0x20,0x30,0x10,0x90};
uchar code shuma[]={0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90}; //第四象限
uchar bushu[50]; //路径存储
int F,Xe=0,Ye=0,J,Xm=0,Ym=0,dat=0,xiangxian=0;
uint key_flag=0,key_change=0,chabu_flag=0,motor_flag=1,start_flag=0;
void keyscan(void); //获取按键
void chabu(void); //插补计算
void start(void); //步进电机执行与数码管显示
void main(void)
{
EA = 1; /*************************************/
ET0 = 1;
TMOD = 0x01; //定时器初始化//
TH0= (65536-1000) / 256;
TL0= (65536-1000)%256; /*************************************/
TR0 = 1;
while(1)
{
keyscan(); //按键计数获取
chabu(); //插补计算，生成步数轨迹
start(); //电机按照轨迹运行
}
}
void keyscan(void)
{
static uint key_up=1;
if(key_up&&(KEY1==0||KEY2==0||KEY3==0||KEY4==0||KEY5==0||KEY6==0||KEY7==0))
{
key_up=0; // 不支持连按。
if(key_change==1) //消抖，等待10ms
{
if(KEY1==0) Xe++;
if(KEY2==0) Ye++;
if(KEY3==0) {key_flag=1;xiangxian=1;}
if(KEY4==0) {key_flag=1;xiangxian=2;}
if(KEY5==0) {key_flag=1;xiangxian=3;}
if(KEY6==0) {key_flag=1;xiangxian=4;}
if(KEY7==0) {P0=0X99;}
}
}
else if(KEY1==1&&KEY2==1&&KEY3==1&&KEY4==1&&KEY5==1&&KEY6==1)key_up=1;//按键松开
}
void chabu(void)
{
int i,a=0,b=0;
if(key_flag==1)
{
J=Xe+Ye;
for(i=0;i<J;i++)
{
F=((Ym*Xe)-(Xm*Ye)); //插补计算公式
if(F==0||F>0) //如果F大于等于零往X方向走
{
a++;
if(a==8)a=0;
bushu[i]=(a-1);
Xm++;
}
else //否则往Y方向走
{
b++;
if(b==8)b=0;
bushu[i]=(b+7);
Ym++;
}
if(i==(J-1)) //判断是否到达终点
{
chabu_flag=1;
key_flag=0;
start_flag=1;
}
}
}
}
void start(void)
{
if(chabu_flag==1&&motor_flag==1&&start_flag==1&&xiangxian==1)//判断是否为第一象限
{
motor_flag=0;
P0=motor_1[bushu[dat]];
if(bushu[dat]<8)
{
P2=shuma[bushu[dat]];
}
else
{
P3=shuma[(bushu[dat]-8)];
}
if(dat==(J-1))
{
Xe=0;Ye=0;Xm=0;Ym=0;dat=0; //初始化变量
key_flag=0;key_change=0;chabu_flag=0;
motor_flag=1;start_flag=0; //初始化标志量
}
}
if(chabu_flag==1&&motor_flag==1&&start_flag==1&&xiangxian==2)//判断是否为第二象限
{
motor_flag=0;
P0=motor_2[bushu[dat]];
if(bushu[dat]<8)
{
P2=shuma[bushu[dat]];
}
else
{
P3=shuma[(bushu[dat]-8)];
}
if(dat==(J-1))
{
Xe=0;Ye=0;Xm=0;Ym=0;dat=0; //初始化变量
key_flag=0;key_change=0;chabu_flag=0;
motor_flag=1;start_flag=0; //初始化标志量
}
}
if(chabu_flag==1&&motor_flag==1&&start_flag==1&&xiangxian==3)//判断是否为第三象限
{
motor_flag=0;
P0=motor_3[bushu[dat]];
if(bushu[dat]<8)
{
P2=shuma[bushu[dat]];
}
else
{
P3=shuma[(bushu[dat]-8)];
}
if(dat==(J-1))
{
Xe=0;Ye=0;Xm=0;Ym=0;dat=0; //初始化变量
key_flag=0;key_change=0;chabu_flag=0;
motor_flag=1;start_flag=0; //初始化标志量
}
}
if(chabu_flag==1&&motor_flag==1&&start_flag==1&&xiangxian==4) //判断是否为第四象限
{
motor_flag=0;
P0=motor_4[bushu[dat]];
if(bushu[dat]<8)
{
P2=shuma[bushu[dat]];
}
else
{
P3=shuma[(bushu[dat]-8)];
}
if(dat==(J-1))
{
Xe=0;Ye=0;Xm=0;Ym=0;dat=0; //初始化变量
key_flag=0;key_change=0;chabu_flag=0;
motor_flag=1;start_flag=0; //初始化标志量
}
}
}
void Timer0( ) interrupt 1
{
static uchar key_jishu=0,motor_jishu=0,motor_jishu_a=0;
TR0 = 0;
TH0= (65536-1000) / 256; //定时1ms
TL0= (65536-1000)%256;
key_jishu++;
if(key_jishu==10&&key_change==0) //按键延时
{
key_change=1; //按键标志量置1
key_jishu=0; //计数清零
}
if(chabu_flag==1) //计数10ms的次数，因为500太大
{
motor_jishu++;
if(motor_jishu==10)
{
motor_jishu_a++;
motor_jishu=0;
}
}
if(motor_flag==0&&motor_jishu_a==50) //50ms计时
{
motor_flag=1; //电机标志量置1
dat++; //数组位置，电机步数
motor_jishu_a=0; //计数值清零
}
TR0 = 1;
}

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