51单片机6自由度机械臂调试程序，带LCD1602PWM显示 -

#include <reg52.h>
#include <lcd1602.h>
#define uchar unsigned char
#define uint unsigned int
sbit duoji0=P2^0; //PWM输出
sbit duoji1=P2^1;
sbit duoji2=P2^2;
sbit duoji3=P2^3;
sbit duoji4=P3^1;
sbit duoji5=P3^0;
#define GPIO_KEY P1
unsigned int k0;
unsigned int k1;
unsigned int k2;
unsigned int k4;
unsigned int k3;
unsigned int k5; //定义下降沿节点
uint dsip[8]={0};
uint j=0;
unsigned char code ASCII[15] = {'0','1','2','3','4','5','6','7','8','9','.','D',' '};
void delayms(uint xms)
{
uchar j;
uint i;
for(i=xms;i>0;i--)
for(j=112;j>0;j--);
}
void time0() interrupt 1
{
static uint ii0=0;
TH0=(65536-100)/256; //以20ms为一个周期，以0.1ms为一个脉冲宽度
TL0=(65536-100)%256;
ii0++;
if(ii0<=k0)
duoji0=1; //0号舵机pwm输出
else
duoji0=0;
if(ii0<=k1) //1号舵机pwm输出
duoji1=1;
else
duoji1=0;
if(ii0<=k2) //2号舵机pwm输出
duoji2=1;
else
duoji2=0;
if(ii0<=k3) //3号舵机pwm输出
duoji3=1;
else
duoji3=0;
if(ii0<=k4) //4号舵机pwm输出
duoji4=1;
else
duoji4=0;
if(ii0<=k5) //5号舵机pwm输出
duoji5=1;
else
duoji5=0;
if(ii0==200)
ii0=0;
}
void time0init()
{
TMOD=0x01;
TH0=(65536-100)/256;
TL0=(65536-100)%256;
TR0=1;
ET0=1;
EA=1;
}
char KeyDown()
{
uchar KeyValue=20;
uchar a=0;
GPIO_KEY=0x0f;
if(GPIO_KEY!=0x0f)//读取按键是否按下
{
delayms(10);//延时10ms进行消抖
if(GPIO_KEY!=0x0f)//再次检测键盘是否按下
{
//测试列
GPIO_KEY=0X0F;
switch(GPIO_KEY)
{
case(0X07): KeyValue=0;break;
case(0X0b): KeyValue=1;break;
case(0X0d): KeyValue=2;break;
case(0X0e): KeyValue=3;break;
}
//测试行
GPIO_KEY=0XF0;
switch(GPIO_KEY)
{
case(0X70): KeyValue=KeyValue;break;
case(0Xb0): KeyValue=KeyValue+4;break;
case(0Xd0): KeyValue=KeyValue+8;break;
case(0Xe0): KeyValue=KeyValue+12;break;
}
while((a<50)&&(GPIO_KEY!=0xf0)) //检测按键松手检测，当按键等于0xf时候跳出循环
{
delayms(100);
a++;
}
}
}
return KeyValue;
}
void count()
{
LcdWriteData(ASCII[0]);
LcdWriteData(ASCII[11]);
LcdWriteData(ASCII[k0/10]);
LcdWriteData(ASCII[k0%10]);
LcdWriteData(ASCII[12]);
LcdWriteData(ASCII[1]);
LcdWriteData(ASCII[11]);
LcdWriteData(ASCII[k1/10]);
LcdWriteData(ASCII[k1%10]);
LcdWriteCom(0x80+0x40);
LcdWriteData(ASCII[2]);
LcdWriteData(ASCII[11]);
LcdWriteData(ASCII[k2/10]);
LcdWriteData(ASCII[k2%10]);
LcdWriteData(ASCII[12]);
LcdWriteData(ASCII[3]);
LcdWriteData(ASCII[11]);
LcdWriteData(ASCII[k3/10]);
LcdWriteData(ASCII[k3%10]);
}
void main()
{
time0init();
k0=15;
k1=9;
k2=16;
k3=14;
k4=8;
k5=8;
LcdInit();
count();
while(1)
{
uchar KeyValue1=20;
KeyValue1=KeyDown();
if(KeyValue1==0&&k0<=20&&k0>=8) //0号舵机高电平时间增加
{
k0++;
if(k0==21)
k0=20;
KeyValue1=20;LcdWriteCom(0x01); count();
}
if(KeyValue1==4&&k0<=20&&k0>=8) //0号舵机高电平时间减少
{
k0--;
if(k0==7)
k0=8;
KeyValue1=20; LcdWriteCom(0x01);count();
}
if(KeyValue1==1&&k1<=20&&k1>=8) //1号舵机高电平时间增加
{
k1++;
if(k1==21)
k1=20;
KeyValue1=20; LcdWriteCom(0x01);count();
}
if(KeyValue1==5&&k1<=20&&k1>=8)
{
k1--;
if(k1==7)
k1=8;
KeyValue1=20; LcdWriteCom(0x01);count();
}
if(KeyValue1==2&&k2<=20&&k2>=8) //2号舵机高电平时间增加
{
k2++;
if(k2==21)
k2=20;
KeyValue1=20; LcdWriteCom(0x01);count();
}
if(KeyValue1==6&&k2<=20&&k2>=8)
{
k2--;
if(k2==7)
k2=8;
KeyValue1=20; LcdWriteCom(0x01);count();
}
if(KeyValue1==3&&k3<=20&&k3>=8) //3号舵机高电平时间增加
{
k3++;
if(k3==21)
k3=20;
KeyValue1=20; LcdWriteCom(0x01);count();
}
if(KeyValue1==7&&k3<=20&&k3>=8)
{
k3--;
if(k3==7)
k3=8;
KeyValue1=20; LcdWriteCom(0x01);count();
}
if(KeyValue1==8&&k4<=20&&k4>=8) //4号舵机高电平时间增加
{
k4++;
if(k4==21)
k4=20;
KeyValue1=20;LcdWriteCom(0x01); count();
}
if(KeyValue1==12&&k4<=20&&k4>=8)
{
k4--;
if(k4==7)
k4=8;
KeyValue1=20; LcdWriteCom(0x01);count();
}
if(KeyValue1==9&&k5<=20&&k5>=8) //5号舵机高电平时间增加
{
k5++;
if(k5==21)
k5=20;
KeyValue1=20;LcdWriteCom(0x01); count();
}
if(KeyValue1==13&&k5<=20&&k5>=8)
{
k5--;
if(k5==7)
k5=8;
KeyValue1=20; LcdWriteCom(0x01);count();
}
}
}

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