单片机六自由度机械手控制程序

单片机六自由度机械手控制程序

#include

#include

#include

#define uint unsigned int #define uchar unsigned char #define COM1 XBYTE[0x5800] #define C01 XBYTE[0x4000] #define C11 XBYTE[0x4800]

#define C21 XBYTE[0x5000] #define COM2 XBYTE[0x3800] #define C02 XBYTE[0x2000] #define C12 XBYTE[0x2800] #define C22 XBYTE[0x3000] sbit k1=P3^2;//电机复位按钮

sbit k2=P3^3;//电机选择按钮

sbit k3=P3^4;//电机正转

sbit k4=P3^5;//电机反转

sbit rs=P2^0;

sbit rw=P2^1;

sbit en=P2^2;

uint m=0,i=0;

void reservo();

void lcd(uint i);

void timer(uint n);

void delay(uint n);

void lcd_init();

void lcd_wcom(uchar com); void lcd_wdat(uchar dat); void

lcd_wndat(uint dat); void delay(uint n);

void init(void);

void EXT1_INT(void)

{ EX1=1;

IT1=1;

EA=1;

}

void EXT0_INT()

{ EX0=1;

IT0=1;

EA=1;

}

void EXT1_INT_SRV() interrupt 2 {

i++;

}

//主程序

void main() {

while(1)

{if(k1==0)

{reservo();//电机复位程序break;}

}

EXT1_INT();//中断初始化

if(i!=0&&i%6==0)

i=6;

else

i=i%6;

lcd(i);

timer(i);

}

//电机复位程序

void reservo() {

EXT0_INT();

delay(200); }

void EXT0_INT_SRV() interrupt 0 {

TMOD=0x01;

TH0=0xB1;

TL0=0xE0;

ET0=1;

EA=1;

TR0=1;

COM1=0x30;

C01=0xdc; C01=0x05;

COM1=0x70;

C11=0xdc; C11=0x05;

COM1=0xB0;

C21=0xdc; C21=0X05;

COM2=0x30;

C02=0xdc; C02=0x05;

COM2=0x70;

C12=0xdc; C12=0x05;

COM2=0xB0;

C22=0xdc; C22=0X05; }

//显示屏程序

void lcd(uint i)

{ uint n;

uchar code table[]="servo"; lcd_init();

lcd_wcom(0x80);

for(n=0;n<16;n++)

{

lcd_wdat(table[m]);

delay(200);

}

lcd_wcom(0x80+0x07); switch(i) {

case 1: lcd_wndat(1);

delay(200);

break;

case 2: lcd_wndat(2);

delay(200);

break;

case 3: lcd_wndat(3);

delay(200);

break;

case 4: lcd_wndat(4);

delay(200);

break;

case 5: lcd_wndat(5);

delay(200);

break;

case 6: lcd_wndat(6);

delay(200);

}

}

void delay(uint n)

{

uint x,y;

for(x=n;x>0;x--)

for(y=110;y>0;y--);

}

void lcd_wcom(uchar com)//1602写命令程序 { rs=0;

rw=0;

P0=com;

delay(5);

en=1;

en=0;

}

void lcd_wdat(uchar dat)//1602写数据程序 { rs=1;

rw=0;

P0=dat;

delay(5);

en=1;

en=0;

}

void lcd_wndat(uint dat)//1602写数据程序 { rs=1;

rw=0;

P0=dat;

delay(5);

en=1;

en=0;

}

void lcd_init() {

lcd_wcom(0x38);

lcd_wcom(0x0c);

lcd_wcom(0x06);