四足蜘蛛走路程序（djb.c）

嵌入式开发

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开发语言：C/C++
实例大小：7.44KB
下载次数：5
浏览次数：98
发布时间：2021-02-28
实例类别：嵌入式开发
发布人：kya
文件格式：.c
所需积分：2

实例介绍

#include "reg51.h"
#define uint8 unsigned char
#define uint16 unsigned short int
#define uint32 unsigned long

sbit SERVO0=P2^0; //控制舵机的PWM输出口
sbit SERVO1=P2^1;
sbit SERVO2=P3^2;
sbit SERVO3=P3^3;
sbit SERVO4=P3^4;
sbit SERVO5=P3^5;
sbit SERVO6=P2^6;
sbit SERVO7=P2^7;

uint16 Servo0PwmDuty=1500; //PWM脉冲宽度
uint16 Servo1PwmDuty=1500;
uint16 Servo2PwmDuty=1500;
uint16 Servo3PwmDuty=1500;
uint16 Servo4PwmDuty=1500;
uint16 Servo5PwmDuty=1500;
uint16 Servo6PwmDuty=1500;
uint16 Servo7PwmDuty=1500;

void DelayMs(uint16 ms) //延时ms毫秒
{
uint16 i,j;
for(i=0;i<85;i ) //89单片机用85,12系列单片机用800
for(j=0;j<ms;j );
}

void InitTimer0(void) //时钟0初始化
{
TMOD &= 0xF0; //设置定时器模式
TMOD |= 0x01; //设置定时器模式
TL0 = 0x00; //设置定时初值
TH0 = 0x00; //设置定时初值
TF0 = 0; //清除TF0标志
TR0 = 1; //定时器0开始计时
ET0 = 1; //开定时器0中断
}
void Timer0Value(uint16 pwm)
{
uint16 value;
value=0xffff-pwm;
TR0 = 0;
TL0=value; //16位数据给8位数据赋值默认将16位数据的低八位直接赋给八位数据
TH0=value>>8; //将16位数据右移8位，也就是将高8位移到低八位，再赋值给8位数据
TR0 = 1;
}

void djb()
{
Servo1PwmDuty = 2000;
DelayMs(500);

Servo4PwmDuty = 1000;
DelayMs(500);
Servo5PwmDuty = 1000;
DelayMs(500);
Servo4PwmDuty = 1500;
DelayMs(500);

Servo1PwmDuty = 1000;
Servo5PwmDuty = 2000;
DelayMs(500);

Servo3PwmDuty = 1000;
DelayMs(500);

Servo6PwmDuty = 1000;
DelayMs(500);
Servo7PwmDuty = 2000;
DelayMs(500);
Servo6PwmDuty = 1500;
DelayMs(500);

Servo3PwmDuty = 2000;
Servo7PwmDuty = 1000;
DelayMs(500);

// Servo0PwmDuty = 1200; // 脉冲宽度在1000微秒，对应-45°
// Servo2PwmDuty = 1200; // 脉冲宽度在1000微秒，对应-45°
// Servo4PwmDuty = 1500; // 脉冲宽度在1000微秒，对应-45°
// DelayMs(1000);
// Servo0PwmDuty = 1500; // 脉冲宽度在1000微秒，对应-45°
// DelayMs(1000);
// Servo2PwmDuty = 1500; // 脉冲宽度在1000微秒，对应-45°
// DelayMs(1000);
//
// Servo6PwmDuty = 1200; // 脉冲宽度在1000微秒，对应-45°
// DelayMs(1000);
// Servo7PwmDuty = 2000;
// DelayMs(1000);
//
// Servo0PwmDuty = 1200; // 脉冲宽度在1000微秒，对应-45°
// Servo2PwmDuty = 1200; // 脉冲宽度在1000微秒，对应-45°
// Servo6PwmDuty = 1500; // 脉冲宽度在1000微秒，对应-45°
// DelayMs(1000);
// Servo0PwmDuty = 1500; // 脉冲宽度在1000微秒，对应-45°
// DelayMs(1000);
// Servo2PwmDuty = 1500; // 脉冲宽度在1000微秒，对应-45°
// DelayMs(1000);
}

void djb2()
{
Servo4PwmDuty = 1000;
DelayMs(1000);
Servo5PwmDuty = 1000;
DelayMs(1000);
Servo4PwmDuty = 1500;
DelayMs(1000);
Servo5PwmDuty = 2000;
DelayMs(1000);

Servo6PwmDuty = 1000;
DelayMs(1000);
Servo7PwmDuty = 2000;
DelayMs(1000);
Servo6PwmDuty = 1500;
DelayMs(1000);
Servo7PwmDuty = 1000;
DelayMs(1000);
}
void djb3()
{
Servo1PwmDuty = 1000;
DelayMs(1000);
Servo0PwmDuty = 1000;
DelayMs(1000);
Servo1PwmDuty = 2000;
DelayMs(1000);
Servo0PwmDuty = 1500;
DelayMs(1000);

Servo5PwmDuty = 2000;
DelayMs(1000);
Servo4PwmDuty = 1000;
DelayMs(1000);
Servo5PwmDuty = 1000;
DelayMs(1000);
Servo4PwmDuty = 1500;
DelayMs(1000);

Servo3PwmDuty = 2000;
DelayMs(1000);
Servo2PwmDuty = 1000;
DelayMs(1000);
Servo3PwmDuty = 1000;
DelayMs(1000);
Servo2PwmDuty = 1500;
DelayMs(1000);

Servo7PwmDuty = 1000;
DelayMs(1000);
Servo6PwmDuty = 1000;
DelayMs(1000);
Servo7PwmDuty = 2000;
DelayMs(1000);
Servo6PwmDuty = 1500;
DelayMs(1000);
}
void djb4()
{
Servo1PwmDuty = 1000;
Servo5PwmDuty = 2000;
Servo3PwmDuty = 2000;
Servo7PwmDuty = 1000;
DelayMs(3000);

Servo6PwmDuty = 1000;
DelayMs(1000);
Servo7PwmDuty = 1900;
DelayMs(1000);
Servo6PwmDuty = 1500;
DelayMs(1000);

Servo0PwmDuty = 1000;
DelayMs(1000);
Servo1PwmDuty = 2000;
DelayMs(1000);
Servo0PwmDuty = 1500;
DelayMs(1000);

Servo4PwmDuty = 1000;
DelayMs(1000);
Servo5PwmDuty = 1100;
DelayMs(1000);
Servo4PwmDuty = 1500;
DelayMs(1000);

Servo2PwmDuty = 1000;
DelayMs(1000);
Servo3PwmDuty = 1000;
DelayMs(1000);
Servo2PwmDuty = 1500;
DelayMs(1000);
}
void main()
{
InitTimer0(); //定时器0初始化
EA = 1; //开总中断
Servo0PwmDuty=1500;
Servo1PwmDuty=1000;
Servo2PwmDuty=1500;
Servo3PwmDuty=2000;
Servo4PwmDuty=1500;
Servo5PwmDuty=2000;
Servo6PwmDuty=1500;
Servo7PwmDuty=1000;
DelayMs(500);

// Servo0PwmDuty=1500;
// Servo1PwmDuty=2000;
// Servo2PwmDuty=1500;
// Servo3PwmDuty=1000;
// Servo4PwmDuty=1500;
// Servo5PwmDuty=1000;
// Servo6PwmDuty=1500;
// Servo7PwmDuty=2000;
// DelayMs(500);

// Servo0PwmDuty=1500;
// Servo1PwmDuty=2000;
// Servo2PwmDuty=1500;
// Servo3PwmDuty=1000;
// Servo4PwmDuty=1500;
// Servo5PwmDuty=1100;
// Servo6PwmDuty=1500;
// Servo7PwmDuty=1900;
// DelayMs(1000);
while(1) //大循环
{
djb2();
}
}

void Timer0_isr(void) interrupt 1 using 1 //时钟0中断处理
{
static uint16 i = 1; //静态变量：每次调用函数时 $$保持上一次所赋的值$$
//跟全局变量类似，不同是它只能用于此函数内部
switch(i)
{
case 1:
SERVO0 = 1; //PWM控制脚高电平
//给定时器0赋值，计数Pwm0Duty个脉冲后产生中断，下次中断会进入下一个case语句
Timer0Value(Servo0PwmDuty);
break;
case 2:
SERVO0 = 0; //PWM控制脚低电平
//高脉冲结束后剩下的时间(20000-Pwm0Duty)全是低电平了，Pwm0Duty (20000-Pwm0Duty) = 20000个脉冲正好为一个周期20毫秒
Timer0Value(20000-Servo0PwmDuty);
break;

case 3:
SERVO1 = 1; //PWM控制脚高电平
Timer0Value(Servo1PwmDuty);
break;
case 4:
SERVO1 = 0; //PWM控制脚低电平
Timer0Value(20000-Servo1PwmDuty);
break;

case 5:
SERVO2 = 1; //PWM控制脚高电平
Timer0Value(Servo2PwmDuty);
break;
case 6:
SERVO2 = 0; //PWM控制脚低电平
Timer0Value(20000-Servo2PwmDuty);
break;

case 7:
SERVO3 = 1; //PWM控制脚高电平
Timer0Value(Servo3PwmDuty);
break;
case 8:
SERVO3 = 0; //PWM控制脚低电平
Timer0Value(20000-Servo3PwmDuty);

break;

case 9:
SERVO4 = 1; //PWM控制脚高电平
Timer0Value(Servo4PwmDuty);
break;
case 10:
SERVO4 = 0; //PWM控制脚低电平
Timer0Value(20000-Servo4PwmDuty);
break;

case 11:
SERVO5 = 1; //PWM控制脚高电平
Timer0Value(Servo5PwmDuty);
break;
case 12:
SERVO5 = 0; //PWM控制脚低电平
Timer0Value(20000-Servo5PwmDuty);
break;

case 13:
SERVO6 = 1; //PWM控制脚高电平
Timer0Value(Servo6PwmDuty);
break;
case 14:
SERVO6 = 0; //PWM控制脚低电平
Timer0Value(20000-Servo6PwmDuty);
break;

case 15:
SERVO7 = 1; //PWM控制脚高电平
Timer0Value(Servo7PwmDuty);
break;
case 16:
SERVO7 = 0; //PWM控制脚低电平
Timer0Value(20000-Servo7PwmDuty);
i=0;
break;
}
i ;
}

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