仿真程序谁会修改？

ti

#include
#include

                     //IO口设置
***it a=P2^4;          //L298信号口，{ a=1 ;b=0;}    //启动输出  正转
***it b=P2^5;          //          { a=0 ;b=1;}    //启动输出反转
***it K1 =P1^0 ;                   //减少键
***it K2 =P1^1 ;                   //增加键
***it K3 =P1^2 ;                   //正转键
***it K4 =P1^3 ;                   //反转键

unsigned int  speed_s=10;    //设置的转速,单位r/s
unsigned int  speed_m=0;    //测量的转速
unsigned char  zhuanxiang=1; //转向标志，0不转，1正转，2反转.默认正转

                     //LCD模块IO口以及子程序定义
#define LCD_DATA P0
***it LCD_RS = P2^0;
***it LCD_RW = P2^1;
***it LCD_EN = P2^2;
unsigned char dispBuff0[16]={'S','D',':',' ',' ',' ',' ',' ',' ',' ',' ','r','/','m','i','n'};//LCD第一行显示  不显示用空格
unsigned char dispBuff1[16]={'D','Q',':',' ',' ',' ',' ',' ',' ',' ',' ','r','/','m','i','n'};//LCD第二行显示

void Delay20ms() ;
void LCD_WriteDat(unsigned char lcd_dat);
void LCD_WriteCmd(unsigned char lcd_cmd);
unsigned char LCD_ReadStatus(void);
void LCD_Goto(unsigned char x,unsigned char y);
void LCD_Display(unsigned char row,unsigned char *str);

/*1、LCD模块子函数*/

  void LCD_Init(void)
{
Delay20ms();
LCD_WriteCmd(0x38); //8位机接口、双行显示、5×7字符点阵；
LCD_WriteCmd(0x0c); //显示开启、光标不显示也不闪烁；
LCD_WriteCmd(0x01); //清屏；
LCD_WriteCmd(0x06); //光标右移一位、整屏不移动；

LCD_Goto(0,0);
}
void LCD_WriteDat(unsigned char lcd_dat) //写数据数字字母
{
unsigned char tmp;
tmp = LCD_ReadStatus(); //读状态；
while((tmp & 0x80)) //是否忙 ?
{
tmp = LCD_ReadStatus();
}

LCD_RS = 1; //数据寄存器
LCD_RW = 0;    //写
LCD_DATA = lcd_dat;
_nop_();
LCD_EN = 0;
_nop_();
_nop_();
LCD_EN = 1;

}
void LCD_WriteCmd(unsigned char lcd_cmd)    //写指令数据到LCD
{
unsigned char tmp;
tmp = LCD_ReadStatus();
while((tmp & 0x80))
{
tmp = LCD_ReadStatus();
}

LCD_RS = 0;    //指令寄存器
LCD_RW = 0;    //写
LCD_DATA = lcd_cmd;
_nop_();
LCD_EN = 0;
_nop_();
_nop_();
LCD_EN = 1;
}
unsigned char LCD_ReadStatus(void)
{
unsigned char tmp;
#if 0
LCD_RS = 0;
LCD_RW = 1;
LCD_EN = 1;
tmp = LCD_DATA;
LCD_EN = 0;
#endif
LCD_DATA = 0xff;
LCD_RS = 0;
LCD_RW = 1;
LCD_EN = 0;
_nop_();
_nop_();
LCD_EN = 1;
tmp = LCD_DATA;
return tmp;
}
void LCD_Goto(unsigned char x,unsigned char y)
{
unsigned char tmp;
if(y) //若是第二行；
{
tmp = 0xc0 + x;
LCD_WriteCmd(tmp);
}
else
{
tmp = 0x80 + x;
LCD_WriteCmd(tmp);
}
}

void LCD_Display(unsigned char row,unsigned char *str)
{
if(row)
{
LCD_Goto(0,1);
}
  else
    {
    LCD_Goto(0,0);
    }
  while(*str != '')
  {
    LCD_WriteDat(*str++);
    }
}

void Delay20ms() //粗略延时；
{
  unsigned int tmp = 50000;
  while(tmp--);
  }

/*----------------按键识别程序----------------*/

void key() //正转反转调节  zhuanxiang; 转向标志，0不转，1正转，2反转
{
if(!K1)    //减速
  {
       speed_s--;
   if (speed_s<0)
   { speed_s=0;
//       zhuangxiang=0;
   }
  }
if(!K2)    //加速
  {  if (speed_s<20)
   { speed_s++;}
  }
  dispBuff0[4]=(speed_s*60/1000)%10+'0';dispBuff0[5]=(speed_s*60/100)%10+'0';
  dispBuff0[6]=(speed_s*60/10)%10+'0';dispBuff0[7]=(speed_s*60)%10+'0';
  LCD_Display(0,dispBuff0);

  if(!K3 && K4)    //正转
{
   zhuanxiang=1;
}
  if(!K4 && K3)       //反转
{
      zhuanxiang=2;
}
  if(!K4 && !K3) //两键按下，停止
{
      zhuanxiang=0;
}
}

/*------------------测转速程序------------------*/
unsigned int pusle=0;//脉冲个数
unsigned char count=0;//个数

void timer2 (void) interrupt 5//定时器2中断  计时1s
{

      if(TF2==1)
   {
TF2=0; // 溢出标志必须软件清0
   count++;
if(count>=20)//这就大约1s
   {
     speed_m=pusle/4;//测速转速，单位r/M.转一圈产生2个脉冲
     dispBuff1[4]=(speed_m*60/1000)%10+'0';dispBuff1[5]=(speed_m*60/100)%10+'0';
     dispBuff1[6]=(speed_m*60/10)%10+'0';dispBuff1[7]=(speed_m*60)%10+'0';
     LCD_Display(1,dispBuff1);
     count=0;//计数变量清零
     pusle=0;
   }
}

}

void int0() interrupt 0 //外部中断0中断处理程序，用于脉冲计数
{
pusle++;
}

/*-------------电机调速程序，增量式PID算法------------*/
int Now_speed[3]={0,0,0};  //用于存储当前转速、前一次转速、再前一次转速

int KP=100;
int KI=20;
int KD=15;
int last_out=0;
#define out_max 10000
#define out_min 0
unsigned int PWMH=0;//PWM波在10000us内高电平时间

/********电机PID控制**********/
void Motor_control(void)
{
int PID=0;
int P=0;
int I=0;
int D=0;
int out=0;

Now_speed[2] = Now_speed[1];
Now_speed[1] = Now_speed[0];
Now_speed[0] = speed_s-speed_m;

P = KP*(Now_speed[0]-Now_speed[1]);
I = KI* Now_speed[0];
D = KD*(Now_speed[0]-2*Now_speed[1]+Now_speed[2]);
PID = P+I+D;
out=last_out+PID;
if(out>out_max) out=out_max; //大于10000，取值为10000
if(out PWMH=out;
last_out=out;
}

unsigned char jishi=0;//计时
void timer0 (void) interrupt 1 //定时器0中断，用于定时产生PWM周期，一个控制周期定为10000us
{
jishi++;
if (jishi>=100)//1s计算一次PID
{/*设置并打开定时器1*/
Motor_control()  ;
jishi=0;
}
// TH1=((65536-PWMH) & 0xff00)>>8;    // 高8位
// TL1=(65536-PWMH) & 0x00ff;    // 低8位
  TR1=1; //运行开关  打开计时器1
TH0=0xb8; //10000us
TL0=0x00;

switch (zhuanxiang)
   {case 0:
            { a=0 ;b=0;break;}    //停止
      case 1:
            {  a=1 ;b=0;break;}    //启动输出  正转
      case 2:
            { a=0 ;b=1; break;}    //启动输出反转
      default:break;
   }
}

void timer1 (void) interrupt 3//定时器1中断，用于定时产生PWM波的高电平时间
{
a=0 ;b=0; //PWM输出低电平
TR1=0;
}

/*----------------主程序----------------------*/
void main()
{
/*计时器2设置，用于定时1s测速*/
TCLK=0;    //可令T2CON=0；或TCLK=0,RCLK=0;
RCLK=0;    //【T2CON中其他位可默认为0，而TCLK和RCLK必须手动置0】
         //因RCAP2L和RCAP2H是由软件预设的
//TMOD=0x00;//...........
//RCAP2H=0x3C;
//RCAP2L=0xB0;

TL2=0x00;// TL2 = (65536-50000) % 256;  //或TL2=0xb0
TH2=0x4C;// TH2 = (65536-50000) / 256;  //或TH2=0x3c
//EA=1;//......
ET2=1;
TR2=1;

/*计时器0设置，用于设置PWM的周期*/
TMOD=0x11; //定时器1、2都工作于方式1
TH0=0xb8; //10000us 高8位
TL0=0x00; //低8位
ET0=1;    //定时器0的中断允许
TR0=1;    //运行开关开始计时

/*计时器1设置，用于设置PWM的高电平时间*/
TH1=0;
TL1=0;
ET1=1;    //定时器1的中断允许
TR1=0;    //停止计时

/*外部中断0设置*/
IT0=1; //外部中断0，0低电平触发，1边沿触发
EX0=1; //打开外部中断0

EA=1;//开全局中断

/*LCD显示*/
LCD_Init();//LCD初始化

LCD_Display(0,dispBuff0);
LCD_Display(1,dispBuff1);
Delay20ms();
while(1)
   {key();//按键识别
   Delay20ms()    ;
   }

}