单片机步进电机定圈转动，正反转，速率内部可调源程序 -

/*-----------------------------------------------
名称：步进电机
内容：本程序用于测试4相步进电机常规驱动
使用1-2相励磁
1-2相激励功率增倍，步进角度减半，抖动减少
顺序如下 a-b-c-d
------------------------------------------------*/
#include <reg52.h>
#include<intrins.h>
#include<stdio.h>
#include<string.h>
sbit RS = P2^4; //定义端口
sbit RW = P2^5;
sbit EN = P2^6;
sbit A1=P1^0; //定义步进电机连接端口
sbit B1=P1^1;
sbit C1=P1^2;
sbit D1=P1^3;
#define RS_CLR RS=0
#define RS_SET RS=1
#define RW_CLR RW=0
#define RW_SET RW=1
#define EN_CLR EN=0
#define EN_SET EN=1
#define DataPort P0
#define KeyPort P3
#define Coil_AB1 {A1=1;B1=1;C1=0;D1=0;}//AB相通电，其他相断电
#define Coil_BC1 {A1=0;B1=1;C1=1;D1=0;}//BC相通电，其他相断电
#define Coil_CD1 {A1=0;B1=0;C1=1;D1=1;}//CD相通电，其他相断电
#define Coil_DA1 {A1=1;B1=0;C1=0;D1=1;}//D相通电，其他相断电
#define Coil_A1 {A1=1;B1=0;C1=0;D1=0;}//A相通电，其他相断电
#define Coil_B1 {A1=0;B1=1;C1=0;D1=0;}//B相通电，其他相断电
#define Coil_C1 {A1=0;B1=0;C1=1;D1=0;}//C相通电，其他相断电
#define Coil_D1 {A1=0;B1=0;C1=0;D1=1;}//D相通电，其他相断电
#define Coil_OFF {A1=0;B1=0;C1=0;D1=0;}//全部断电
unsigned char count;
unsigned char Speed;//正转速度
unsigned char Speed1;//反转速度
bit Flag;
unsigned char code dofly_code[]={'0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F'};//转换成液晶显示的字符
/*------------------------------------------------
uS延时函数，含有输入参数 unsigned char t，无返回值
unsigned char 是定义无符号字符变量，其值的范围是
0~255 这里使用晶振12M，精确延时请使用汇编,大致延时
长度如下 T=tx2+5 uS
------------------------------------------------*/
void DelayUs2x(unsigned char t)
{
while(--t);
}
/*------------------------------------------------
mS延时函数，含有输入参数 unsigned char t，无返回值
unsigned char 是定义无符号字符变量，其值的范围是
0~255 这里使用晶振12M，精确延时请使用汇编
------------------------------------------------*/
void DelayMs(unsigned char t)
{
while(t--)
{
//大致延时1mS
DelayUs2x(245);
DelayUs2x(245);
}
}
/*------------------------------------------------
判忙函数
------------------------------------------------*/
bit LCD_Check_Busy(void)
{
DataPort= 0xFF;
RS_CLR;
RW_SET;
EN_CLR;
_nop_();
EN_SET;
return (bit)(DataPort & 0x80);
}
/*------------------------------------------------
写入命令函数
------------------------------------------------*/
void LCD_Write_Com(unsigned char com)
{
// while(LCD_Check_Busy()); //忙则等待
DelayMs(5);
RS_CLR;
RW_CLR;
EN_SET;
DataPort=com;
_nop_();
EN_CLR;
}
/*------------------------------------------------
写入数据函数
------------------------------------------------*/
void LCD_Write_Data(unsigned char Data)
{
//while(LCD_Check_Busy()); //忙则等待
DelayMs(5);
RS_SET;
RW_CLR;
EN_SET;
DataPort= Data;
_nop_();
EN_CLR;
}
/*------------------------------------------------
清屏函数
------------------------------------------------*/
void LCD_Clear(void)
{
LCD_Write_Com(0x01);
DelayMs(5);
}
/*------------------------------------------------
写入字符串函数
------------------------------------------------*/
void LCD_Write_String(unsigned char x,unsigned char y,unsigned char *s)
{
if (y == 0)
{
LCD_Write_Com(0x80 + x);
}
else
{
LCD_Write_Com(0xC0 + x);
}
while (*s)
{
LCD_Write_Data( *s);
s ++;
}
}
/*------------------------------------------------
写入字符函数
------------------------------------------------*/
void LCD_Write_Char(unsigned char x,unsigned char y,unsigned char Data)
{
if (y == 0)
{
LCD_Write_Com(0x80 + x);
}
else
{
LCD_Write_Com(0xC0 + x);
}
LCD_Write_Data( Data);
}
/*------------------------------------------------
初始化函数
------------------------------------------------*/
void LCD_Init(void)
{
LCD_Write_Com(0x38); /*显示模式设置*/
DelayMs(5);
LCD_Write_Com(0x38);
DelayMs(5);
LCD_Write_Com(0x38);
DelayMs(5);
LCD_Write_Com(0x38);
LCD_Write_Com(0x08); /*显示关闭*/
LCD_Write_Com(0x01); /*显示清屏*/
LCD_Write_Com(0x06); /*显示光标移动设置*/
DelayMs(5);
LCD_Write_Com(0x0C); /*显示开及光标设置*/
}
/*------------------------------------------------
按键扫描函数，返回扫描键值
------------------------------------------------*/
unsigned char KeyScan(void) //键盘扫描函数，使用行列反转扫描法
{
unsigned char cord_h,cord_l;//行列值中间变量
KeyPort=0x0f; //行线输出全为0
cord_h=KeyPort&0x0f; //读入列线值
if(cord_h!=0x0f) //先检测有无按键按下
{
DelayMs(10); //去抖
if((KeyPort&0x0f)!=0x0f)
{
cord_h=KeyPort&0x0f; //读入列线值
KeyPort=cord_h|0xf0; //输出当前列线值
cord_l=KeyPort&0xf0; //读入行线值
while((KeyPort&0xf0)!=0xf0);//等待松开并输出
return(cord_h+cord_l);//键盘最后组合码值
}
}return(0xff); //返回该值
}
///*------------------------------------------------
// 按键值处理函数，返回扫键值
// 可以根据需要改变返回值
// | 1 | 2 | 3 | A |
// | 4 | 5 | 6 | B |
// | 7 | 8 | 9 | C |
// | * | 0 | # | D |
//------------------------------------------------*/
unsigned char KeyPro(void)
{
switch(KeyScan())
{
case 0x7e:return 10;break;//0 按下相应的键显示相对应的码值
case 0x7d:return 11;break;//1
case 0x7b:return 12;break;//2
case 0x77:return 13;break;//3
case 0xbe:return 3;break;//4
case 0xbd:return 6;break;//5
case 0xbb:return 9;break;//6
case 0xb7:return 14;break;//7
case 0xde:return 2;break;//8
case 0xdd:return 5;break;//9
case 0xdb:return 8;break;//a
case 0xd7:return 0;break;//b
case 0xee:return 1;break;//c
case 0xed:return 4;break;//d
case 0xeb:return 7;break;//e
case 0xe7:return 15;break;//f
default:return 0xff;break;
}
}
/*------------------------------------------------
主函数
------------------------------------------------*/
main()
{
unsigned int m=50;//旋转一周时间
unsigned int k,p,i;
unsigned char num;
unsigned char temp[8];
Speed=2;//正转速度
Speed1=2;//反转速度
LCD_Init();
LCD_Write_Com(0x0F);//光标开，光标闪烁开
LCD_Write_String(0,0,"Press the key ");
LCD_Write_String(0,1,"*=zheng or #=fan ");
Coil_OFF
i=0;
while(1)
{
Coil_OFF
num=KeyPro();
while(num!=10)
{
Speed++;
LCD_Clear();
LCD_print("U= mV");
sprintf(Speed,"%3f",num);
}
if(num==15)
{
DelayMs(10);
if(num==15)
{
// LCD_Write_String(0,1,"Speed= ");
// sprintf(1,"%1d",1);
LCD_Clear();
LCD_Write_String(0,0,"Zheng Zhuan:");
while(num!=14)
{
num=KeyPro();
if(num!=0xff)//如果扫描是按键有效值则进行处理
{
if((num==10)||(num==11)||(num==12)||(num==13)||(num==14)||(num==15))
{
LCD_Write_String(0,1,"ERR,enter * or #");
DelayMs(4000);
DelayMs(4000);
DelayMs(4000);
DelayMs(4000);
DelayMs(4000);
DelayMs(4000);
DelayMs(4000);
DelayMs(4000);
DelayMs(4000);
LCD_Write_String(0,1," ");
i=0;
break;
}
if(i==0)
LCD_Write_String(0,1," ");//清除该行
if(i<2) //密码是8位，大于8位时不再输入按键值
{//num=KeyPro();
if(num==10)
Speed++;
temp[i]=num;
LCD_Write_Char(i,1,num+'0');
}
i++;
if(i==2)//8位后的按键不输入数值，相当于确认按键（任意按键即可）
{
LCD_Write_String(0,1,"waiting");
i=0; //计数器复位
p=(temp[0]*512/*+temp[1]*100+temp[2]*10+temp[3]*/);/*****************************************************/
for(k=0;k<p;k++)
{
Coil_A1
DelayMs(Speed); //遇到Coil_AB1 用{A1=1;B1=1;C1=0;D1=0;}代替
//改变这个参数可以调整电机转速 ,
//数字越小，转速越大,力矩越小
Coil_B1
DelayMs(Speed);
Coil_C1
DelayMs(Speed);
Coil_D1
DelayMs(Speed);
}
p=0;
LCD_Write_String(0,1," ");
}
}
}
i=0;
}
}
if(num==14)
{
DelayMs(10);
if(num==14)
{
LCD_Clear();
LCD_Write_String(0,0,"Fan Zhuan:");
while(num!=15)
{
num=KeyPro();
if(num!=0xff) //如果扫描是按键有效值则进行处理
{
if((num==10)||(num==11)||(num==12)||(num==13)||(num==15)||(num==14))
{
LCD_Write_String(0,1,"ERR,enter * or #");
DelayMs(4000);
DelayMs(4000);
DelayMs(4000);
DelayMs(4000);
DelayMs(4000);
DelayMs(4000);
DelayMs(4000);
DelayMs(4000);
DelayMs(4000);
LCD_Write_String(0,1," ");
i=0;
break;
}
if(i==0) //输入是第一个字符的时候需要把改行清空，方便观看密码
LCD_Write_String(0,1," ");//清除该行
if(i<2) //密码是8位，大于8位时不再输入按键值
{
temp[i]=num;
LCD_Write_Char(i,1,num+'0');
}
i++;
if(i==2)//8位后的按键不输入数值，相当于确认按键（任意按键即可）
{
LCD_Write_String(0,1,"waiting");
i=0; //计数器复位
p=(temp[0]*512/*+temp[1]*10+temp[2]*/);/*****************************************************************/
for(k=0;k<p;k++)
{
Coil_A1
DelayMs(Speed1); //遇到Coil_AB1 用{A1=1;B1=1;C1=0;D1=0;}代替
//改变这个参数可以调整电机转速 ,
//数字越小，转速越大,力矩越小
Coil_D1
DelayMs(Speed1);
Coil_C1
DelayMs(Speed1);
Coil_B1
DelayMs(Speed1);
}
p=0;
LCD_Write_String(0,1," ");
}
}
}
i=0;
}
}
}
}

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