大家帮我看看仿真的时候舵机为什么不转呀

2019-07-15 14:21发布

#include <reg52.h> //
#include <lcd1602.H>
#include <ds1302.h>
#include<intrins.h>
#include<math.h>

sfr ADC_CONTR = 0xBC; //ADC control register
sfr ADC_RES = 0xBD; //ADC hight 8-bit result register
sfr ADC_RESL = 0xBE; //ADC low 2-bit result register
sfr P1ASF = 0x9D; //P1 secondary function control register

sbit key1  = P3^2; //定义选择键
sbit key2  = P3^3; //定义加按键端口
sbit key3  = P3^4; //定义减按键端口
sbit key4  = P3^5; //定义启动时间按键端口
sbit key5  = P3^6; //定义停止时间按键端口
sbit pwm0  = P2^0;    //纵向舵机驱动端口
sbit pwm1  = P2^1;    //横向舵机驱动端口

#define uchar unsigned char    //宏定义    unsigned char字符为uchar
#define uint unsigned int    //宏定义    unsigned int
#define ulint unsigned long int //宏定义

/*定义相关特殊功能寄存器*/
#define ADC_POWER 0x80 //ADC power control bit
#define ADC_FLAG 0x10 //ADC complete flag
#define ADC_START 0x08 //ADC start control bit
#define ADC_SPEEDLL 0x00 //540 clocks
#define ADC_SPEEDL 0x20 //360 clocks
#define ADC_SPEEDH 0x40 //180 clocks
#define ADC_SPEEDHH 0x60 //90 clocks

idata uint guangmin_0=0,guangmin_1=0,guangmin_2=0,guangmin_3=0;  //光敏值变量
uchar idata Temp[16]="13-04-30 :  G ";
uchar idata Test[16]="19:14:00 :  K ";
uchar idata Temp1[16]="X:    Y:    ";
uchar idata Test1[16]="guangzhao:    ";
uchar idata Temp2[16]=" G0    G1    ";
uchar idata Test2[16]=" G2    G3    ";

idata uint nian,yue,ri,shi,fen,miao=0;
idata uint xiay;
idata int _shi=18,_fen=30;       //停止时间变量
idata int shi_=6,fen_=30;          //启动时间变量
idata uchar set=0,set1=0,set2=0;    //模式控制变量
idata uchar xian=0;       //显示模式标志变量
idata uint GZ;       //光照变量
idata uchar X,Y;       //角度变量

idata uint js=0; //标志位变量
idata uint b=107,d=107; //角度控制变量
idata float high,dir;//太阳高度角，方位角

void delay(uint x) /////ms延时函数
{
xdata uint i,j;
for(i=0;i<x;i++)
  for(j=0;j<112;j++);
}

void Delay1us() //@12.000MHz
{
_nop_();
_nop_();
_nop_();
_nop_();
}

void InitADC()
{
P1ASF = 0xf0; //Set all P1 as analog input port 0xff=1111 1111B 即P1全部用作AD，使用时根据实际情况赋值
ADC_RES = 0; //清空转换结果存储寄存器
ADC_RESL= 0;
ADC_CONTR = 0x00;
Delay1us();//等待ADC_CONTR值写入 _nop_(); _nop_(); _nop_(); _nop_();
}

unsigned int GetADC(unsigned char ch,unsigned char speed)
{
unsigned int res;
ADC_CONTR =ADC_CONTR | ADC_POWER | speed | ADC_START | ch;    //与
Delay1us();//确保ADC_CONTR的值写入nop; nop; nop; nop;
while(!(ADC_CONTR & ADC_FLAG)); //如果AD转换未结束FLAG位为0，程序在此等待，如果为1，跳出循环
res=ADC_RES*4+ADC_RESL; //读AD转换结果，公式自己理解
ADC_RES=0;
ADC_RESL=0;
ADC_CONTR=0; //寄存器复位
return res;
}

void readtime()
{
   nian= BCD_Decimal(read_1302(0x8d));
   yue = BCD_Decimal(read_1302(0x89));
   ri  = BCD_Decimal(read_1302(0x87));
   shi = BCD_Decimal(read_1302(0x85));
   fen = BCD_Decimal(read_1302(0x83));
   miao= BCD_Decimal(read_1302(0x81));
}

uchar key_bcd(uchar key_decimal) //转成ds1302所需的BCD码
{
uchar temp;
temp=(((key_decimal/10)&0x0f)<<4)|(key_decimal%10);
return temp;
}

void keyscan()
{
//-----------------------------模式键key1----------------------------
if(key1==0&&xian==0)
{
   delay(5);
   if(key1==0)
   {
      delay(10);
      while(!key1);
   set++;
   set1=0;
   set2=0;
   if(set>6)set=0;
   }
}
//-----------------------------模式键key4----------------------------
if(key4==0&&xian==0)
{
   delay(5);
   if(key4==0)
   {
      delay(10);
      while(!key4);
   set=0;
   set1++;
   set2=0;
   if(set1>2)set1=0;
   }
}
//-----------------------------模式键key5----------------------------
if(key5==0&&xian==0)
{
   delay(5);
   if(key5==0)
   {
      delay(10);
      while(!key5);
   set=0;
   set1=0;
   set2++;
   if(set2>2)set2=0;
   }
}
//-----------------------------key2----------------------------
if(key2==0)
{
   delay(2);
   if(key2==0)
   {
      delay(5);
      while(!key2);

switch(set)
   {
      case 1: nian++;
         if(nian>99)nian=0;
write_1302(0x8e,0x00);
write_1302(0x8c,key_bcd(nian)| 0x80);
write_1302(0x8e,0x80);
break;
      case 2: yue++;
         if(yue>12)yue=1;
write_1302(0x8e,0x00);
write_1302(0x88,key_bcd(yue));
write_1302(0x8e,0x80);
break;
      case 3: ri++;
         if(ri>31)ri=1;
write_1302(0x8e,0x00);
write_1302(0x86,key_bcd(ri));
write_1302(0x8e,0x80);
break;

      case 4: shi++;
         if(shi>23)shi=0;
write_1302(0x8e,0x00);
write_1302(0x84,key_bcd(shi));
write_1302(0x8e,0x80);
break;
      case 5: fen++;
         if(fen>59)fen=0;
write_1302(0x8e,0x00);
write_1302(0x82,key_bcd(fen));
write_1302(0x8e,0x80);
break;
      case 6: miao++;
         if(miao>59)miao=0;
write_1302(0x8e,0x00);
write_1302(0x80,key_bcd(miao)&0x7f);
write_1302(0x8e,0x80);
break;
   }
   switch(set1)
   {
      case 1: _shi++;
         if(_shi>23)_shi=23;
break;
      case 2: _fen++;
         if(_fen>59)_fen=0;
break;
   }
   switch(set2)
   {
      case 1: shi_++;
         if(shi_>_shi)shi_=_shi;
break;
      case 2: fen_++;
         if(fen_>59)fen_=0;
break;
   }

   }
}
//-----------------------------key3----------------------------
if(key3==0)
{
   delay(2);
   if(key3==0)
   {
      delay(5);
      while(!key3);
   if(set==0&&set1==0&&set2==0)
   {
        xian++;
      if(xian>2)xian=0;
   b++;d++;
   }
switch(set)
   {
      case 1: nian--;
         if(nian>99)nian=99;
write_1302(0x8e,0x00);
write_1302(0x8c,key_bcd(nian)| 0x80);
write_1302(0x8e,0x80);
break;
      case 2: yue--;
         if(yue>12)yue=12;
write_1302(0x8e,0x00);
write_1302(0x88,key_bcd(yue));
write_1302(0x8e,0x80);
break;
      case 3: ri--;
         if(ri>31)ri=31;
write_1302(0x8e,0x00);
write_1302(0x86,key_bcd(ri));
write_1302(0x8e,0x80);
break;

      case 4: shi--;
         if(shi>23)shi=23;
write_1302(0x8e,0x00);
write_1302(0x84,key_bcd(shi));
write_1302(0x8e,0x80);
break;
      case 5: fen--;
         if(fen>59)fen=59;
write_1302(0x8e,0x00);
write_1302(0x82,key_bcd(fen));
write_1302(0x8e,0x80);
break;
      case 6: miao--;
         if(miao>59)miao=59;
write_1302(0x8e,0x00);
write_1302(0x80,key_bcd(miao)&0x7f);
write_1302(0x8e,0x80);
break;
   }
   switch(set1)
   {
      case 1: _shi--;
         if(_shi<shi_)_shi=shi_;
break;
      case 2: _fen--;
         if(_fen<0)_fen=59;
break;
   }
   switch(set2)
   {
      case 1: shi_--;
         if(shi_<0)shi_=0;
break;
      case 2: fen_--;
         if(fen_<0)fen_=59;
break;
   }
   }
}
}

void suntime()
{
xdata float JD=112;
xdata float JF=32.82;
xdata float R=37.958;
xdata float pi=3.1416;//π值
xdata float K,N0,j,c;
xdata float G,L,H,N,U;///定义日角，误差时间，北京时间，积日，角度
xdata float Q,V,Et,Sd,D,O;//赤纬角，时差系数，时差，地方时，真太阳时，真太阳时角
K=2*pi/365.2422;
N0=79.6764+0.2422*(nian-1985)-(int)((nian-1985)/4);
j=nian/4-(int)(nian/4);    //判断是否闰年
if(yue<=2)
c=30.6;
if((j==0)&&(yue>2))
c=31.8;
else
c=32.8;
G=(int)(30.6*yue-c+0.5)+ri;//计算当天积日、日角

L=(JD+JF/60)/15; //当地与北京时间的误差
H=shi-8+fen/60;    //北京准确时间
N=G+(H-L)/24;    //得到积日
U=(N-N0)*K;    //经度订正，时刻订正
Q=0.3723+23.2567*sin(U)+0.1149*sin(2*U)-0.1712*sin(3*U)-0.758*cos(U)+0.3656*cos(2*U)+0.0201*cos(3*U);//太阳赤纬角
V=2*pi*(N+1096)/365.25;
Et=0.012522+0.557214*cos(V)-7.3314*sin(V)-3.13548*cos(2*V)-9.4188*sin(2*V)-0.078462*cos(3*V)-0.309612*sin(3*V)-0.131202*cos(4*V)-0.178938*sin(4*V)-0.00906*cos(5*V)-0.0140778*sin(5*V);//时差
Sd=shi+(fen-(120-(JD+JF/60))*4)/60; //地方时
D=Sd+Et/60; //真太阳时
O=(D-12)*15; //真太阳时角
high=asin(sin(Q)*sin(R)+cos(Q)*cos(R)*cos(O));
dir=acos((sin(high)*sin(O)-sin(Q))/(cos(high)*cos(R))); //太阳高度角、方位角计算
}

uchar ttt;
void display()
{
if(xian==0)    //显示模式0
{
      ttt++;
if(ttt>5)ttt=0;
if(set==1)
{
if(ttt>2)
{
   Temp[0]=nian/10+'0';
   Temp[1]=nian%10+'0';
}
else
{
   Temp[0]=' ';
   Temp[1]=' ';
}
}
else
{
   Temp[0]=nian/10+'0';
   Temp[1]=nian%10+'0';
}

if(set==2)
{
if(ttt>2)
{
   Temp[3]=yue/10+'0';
   Temp[4]=yue%10+'0';
}
else
{
   Temp[3]=' ';
   Temp[4]=' ';
}
}
else
{
   Temp[3]=yue/10+'0';
   Temp[4]=yue%10+'0';
}

if(set==3)
{
if(ttt>2)
{
   Temp[6]=ri/10+'0';
   Temp[7]=ri%10+'0';
}
else
{
   Temp[6]=' ';
   Temp[7]=' ';
}
}
else
{
   Temp[6]=ri/10+'0';
   Temp[7]=ri%10+'0';
}
if(set1==1)
{
if(ttt>2)
{
   Temp[9]=_shi/10+'0';
   Temp[10]=_shi%10+'0';
}
else
{
   Temp[9]=' ';
   Temp[10]=' ';
}
}
else
{
   Temp[9]=_shi/10+'0';
   Temp[10]=_shi%10+'0';
}
if(set1==2)
{
if(ttt>2)
{
   Temp[12]=_fen/10+'0';
   Temp[13]=_fen%10+'0';
}
else
{
   Temp[12]=' ';
   Temp[13]=' ';
}
}
else
{
   Temp[12]=_fen/10+'0';
   Temp[13]=_fen%10+'0';
}
ShowString(0,Temp);

if(set==4)
{
if(ttt>2)
{
   Test[0]=shi/10+'0';
   Test[1]=shi%10+'0';
}
else
{
   Test[0]=' ';
   Test[1]=' ';
}
}
else
{
   Test[0]=shi/10+'0';
   Test[1]=shi%10+'0';
}

if(set==5)
{
if(ttt>2)
{
   Test[3]=fen/10+'0';
   Test[4]=fen%10+'0';
}
else
{
   Test[3]=' ';
   Test[4]=' ';
}
}
else
{
   Test[3]=fen/10+'0';
   Test[4]=fen%10+'0';
}

if(set==6)
{
if(ttt>2)
{
   Test[6]=miao/10+'0';
   Test[7]=miao%10+'0';
}
else
{
   Test[6]=' ';
   Test[7]=' ';
}
}
else
{
   Test[6]=miao/10+'0';
   Test[7]=miao%10+'0';
}
if(set2==1)
{
if(ttt>2)
{
   Test[9]=shi_/10+'0';
   Test[10]=shi_%10+'0';
}
else
{
   Test[9]=' ';
   Test[10]=' ';
}
}
else
{
   Test[9]=shi_/10+'0';
   Test[10]=shi_%10+'0';
}
if(set2==2)
{
if(ttt>2)
{
   Test[12]=fen_/10+'0';
   Test[13]=fen_%10+'0';
}
else
{
   Test[12]=' ';
   Test[13]=' ';
}
}
else
{
   Test[12]=fen_/10+'0';
   Test[13]=fen_%10+'0';
}
ShowString(1,Test);
}
if(xian==1)    //显示模式1
{
   Y=b;
   X=d;
   GZ=(guangmin_0+guangmin_1+guangmin_2+guangmin_3)/4;
   if(X<=107)
   {
         X=107-X;
   Temp1[3]='-';    //角度数值转换显示
   Temp1[4]=X/100%10+'0';
   Temp1[5]=X/10%10+'0';
   Temp1[6]=X%10+'0';
   }
   if(X>=107)
   {
         X=X-107;
   Temp1[3]='+';    //角度数值转换显示
   Temp1[4]=X/100%10+'0';
   Temp1[5]=X/10%10+'0';
   Temp1[6]=X%10+'0';
   }

   if(Y<=107)
   {
         Y=107-Y;
   Temp1[11]='-';    //角度数值转换显示
   Temp1[12]=Y/100%10+'0';
   Temp1[13]=Y/10%10+'0';
   Temp1[14]=Y%10+'0';
   }
   if(Y>=107)
   {
         Y=Y-107;
   Temp1[11]='+';    //角度数值转换显示
   Temp1[12]=Y/100%10+'0';
   Temp1[13]=Y/10%10+'0';
   Temp1[14]=Y%10+'0';
   }

   Test1[10]=GZ/1000+'0';    //光敏数值转换显示
   Test1[11]=GZ/100%10+'0';
   Test1[12]=GZ/10%10+'0';
   Test1[13]=GZ%10+'0';
   ShowString(0,Temp1);
   ShowString(1,Test1);
}
if(xian==2)    //显示模式2
{

   Temp2[4]=guangmin_0/1000+'0';    //光敏数值转换显示
   Temp2[5]=guangmin_0/100%10+'0';
   Temp2[6]=guangmin_0/10%10+'0';
   Temp2[7]=guangmin_0%10+'0';

   Temp2[11]=guangmin_1/1000+'0';    //光敏数值转换显示
   Temp2[12]=guangmin_1/100%10+'0';
   Temp2[13]=guangmin_1/10%10+'0';
   Temp2[14]=guangmin_1%10+'0';

   Test2[4]=guangmin_2/1000+'0';    //光敏数值转换显示
   Test2[5]=guangmin_2/100%10+'0';
   Test2[6]=guangmin_2/10%10+'0';
   Test2[7]=guangmin_2%10+'0';

   Test2[11]=guangmin_3/1000+'0';    //光敏数值转换显示
   Test2[12]=guangmin_3/100%10+'0';
   Test2[13]=guangmin_3/10%10+'0';
   Test2[14]=guangmin_3%10+'0';

   ShowString(0,Temp2);
   ShowString(1,Test2);
}
}

void timer0_irpt()interrupt 1    //中断1服务程序
{
//    TH0 = (65536-10)/256;       //重装计数值
// TL0 = (65536-10)%256;    //重装计数值
   js++;    //js自加1
   if(js==2000)    //如果js等于2000
   {
      pwm0=1;
pwm1=1;    //纵向舵机驱动端口取反

      js=0;    //把js置0
   }
   else    //否则判断js是否等于b
   {
   if(js==b)
            {pwm0=0;}         //如果等于就把纵向舵机驱动端口取反
   if(js==d)
            {pwm1=0;}
   }
}

void chushihua()    //内部中断初始化函数
{
   TMOD = 0x01;    //将计数器设置为工作方式1
   TH0 = (65536-10)/256;    //给计数器高八位赋值
   TL0 = (65536-10)%256;    //给计数器低八位赋值
   EA = 1; //开总中断
   ET0 = 1;                   //开中断1
   TR0 = 1;
}

void pianzhuankongzhi(void)
{

//    if(xiay==1)
//    {
//    GZ=(guangmin_0+guangmin_1+guangmin_2+guangmin_3)/4;
//      if(GZ>50)
//      {
//

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1条回答

NinthCode

1楼-- · 2019-07-15 15:55

精彩回答 2 元偷偷看……

大家帮我看看仿真的时候舵机为什么不转呀

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