**項目名稱：利用舵機制作簡單機械臂
**編寫時間：2017.07.11
**使用芯片：stc12c2052ad
**時鐘頻率：使用外部晶振頻率12MHz
**簡要說明：本次制作的機械臂共用了3個舵機，可以控制機械臂上下、左右移動和抓放動作。
#include <stc12c2052ad.h>
#include <intrins.h>
typedef unsigned char u8;
typedef unsigned short int u16;
sbit CTRL_u_d = P3^3; //控制上、下方向的舵機控制端口
sbit CTRL_l_r = P3^4; //控制左、右方向的舵機控制端口
sbit CTRL_g = P3^5; //控制抓起的舵機控制端口
void delay_20ms(u16 x);
u8 KeyScan();
u16 TIME = 20000; //PWM周期時間（單位us）
u16 Min = 700; //高電平最小持續時間
u16 Max = 2300; //高電平最大持續時間
u8 Degree = 50; //單位時間寬度（最小是舵機死區設定大約10us）
u16 Times = 0; //TIME/Degree（PWM周期除于單位時間寬度）
//高電平持續時間除于單位時間寬度
u16 cTimes_u_d = 0;
u8 cTimes_l_r = 0;
u8 cTimes_g = 0;
u8 Min_cTimes = 0;
u8 Max_cTimes = 0;
u8 R_TH0 = 0, R_TL0 = 0; //定時器0計數重載值
u8 KeyValue = 0; //1-上、2-左、3-抓、4-右、5-下
void main()
{
Times = TIME/Degree;
cTimes_u_d = 1500/Degree;
cTimes_l_r = 1500/Degree;
cTimes_g = Min_cTimes;
Min_cTimes = Min/Degree;
Max_cTimes = Max/Degree;
P1 = 0xff;
CTRL_u_d = 0;
CTRL_l_r = 0;
CTRL_g = 0;
R_TL0 = 65536 - Degree;
R_TH0 = (65536 - Degree) >> 8;
//設置定時器0
TMOD = 0x01; //16位計數
TL0 = R_TL0;
TH0 = R_TH0;
ET0 = 1; //定時器0中斷開關打開
TR0 = 1; //定時器0計數開始
EA = 1; //中斷總開關打開
while(1)
{
u8 temp = 0;
KeyValue = KeyScan();
switch(KeyValue)
{
case 1: //向上移動
cTimes_u_d = --cTimes_u_d < Min_cTimes ? Min_cTimes : cTimes_u_d;
break;
case 2: //向左移動
cTimes_l_r = --cTimes_l_r < Min_cTimes ? Min_cTimes : cTimes_l_r;
break;
case 3: //抓、放動作
if(cTimes_g == Min_cTimes)
cTimes_g = Max_cTimes;
else
cTimes_g = Min_cTimes;
delay_20ms(15);
break;
case 4: //向右移動
cTimes_l_r = ++cTimes_l_r > Max_cTimes ? Max_cTimes : cTimes_l_r;
break;
case 5: //向下移動
cTimes_u_d = ++cTimes_u_d > Max_cTimes ? Max_cTimes : cTimes_u_d;
break;
}
}
}
u8 KeyScan()
{
u8 key = 0;
if(P1 != 0xff)
{
delay_20ms(2);
if(P1 != 0xff)
{
u8 temp = P1;
key = 1;
while(temp & 0x01)
{
temp = temp >> 1;
key++;
}
}
}
return key;
}
void Delay20ms() //@12.000MHz
{
unsigned char i, j, k;
_nop_();
_nop_();
i = 1;
j = 234;
k = 113;
do
{
do
{
while (--k);
} while (--j);
} while (--i);
}
void delay_20ms(u16 x)
{
while(x--) Delay20ms();
}
//定時器0中斷函數 每次進入中斷間隔時間為Degree（單位時間寬度）
void timer0() interrupt 1 using 1
{
static u16 times = 0;
TL0 = R_TL0;
TH0 = R_TH0;
//每次只控制一個舵機移動
if(times == 0)
{
switch(KeyValue)
{
case 1:
case 5:
CTRL_u_d = 1;
CTRL_l_r = 0;
CTRL_g = 0;
break;
case 2:
case 4:
CTRL_u_d = 0;
CTRL_l_r = 1;
CTRL_g = 0;
break;
case 3:
CTRL_u_d = 0;
CTRL_l_r = 0;
CTRL_g = 1;
break;
}
}
else
{
switch(KeyValue)
{
case 1:
case 5:
if(times >= cTimes_u_d)
{
CTRL_u_d = 0;
}
break;
case 2:
case 4:
if(times >= cTimes_l_r)
{
CTRL_l_r = 0;
}
break;
case 3:
if(times >= cTimes_g)
{
CTRL_g = 0;
}
break;
}
}
times = ++times >= Times ? 0 : times;
} |
