;
delay(25);
}
break;
}
}
/*全速正转*/
void forward()
{
in1=1; //l298n手册，真值
in2=0;
in3=1;
in4=0;
PWMA = 20;
PWMB = 20;
}
/*全速反转*/
void fallback()
{
in1=0;
in2=1;
in3=0;
in4=1;
PWMA = 20;
PWMB = 20;
}
/*50占空比正转*/
void quick()
{
in1=1;
in2=0;
PWMA = 10;
in3=1;
in4=0;
PWMB = 10;
}
/*50占空比反转*/
void slow()
{
in1=0;
in2=1;
PWMA = 10;
in3=0;
in4=1;
PWMB = 10;
}
/*停*/
void stop()
{
in1=0;
in2=0;
in3=0;
in4=0;
}
void delay(uint z)
{
uint x,y;
for(x=z;x>0;x--)
for(y=115;y>0;y--);
}
void SendOneByte(uchar *str) //串口发送数据
{
while(*str !=' ')
{
SBUF=*str;
while(!TI);
TI=0;
str++;
}
}
void main() //定义主函数，返回值为空
{
//串口定时器 定时器T0
TMOD = 0x21; //T0定时器为工作方式一，T1定时器为工作方式二
PCON = 0x00; //串口初始化相关，波特率
SCON = 0x50; //串口初始化相关，串口工作方式一，允许接收
TH1 = 0xFD; //设置初值
TL1 = 0xFD; //设置初值
TR1 = 1; //开启定时器T1
TH0 = 0xF4; //设置初值
TL0 = 0x48; //设置初值
TR0 = 1; //开启定时器T0
ES = 1; //开放串口中断
PT0 = 1; //定时器0中断优先
ET0 = 1; //开放定时器T0中断
EA = 1; //开放总中断
SendOneByte("Receiving from 8051...rn"); //发送字符串，结尾回车换行
while(1)
{
showDigital();
SendOneByte("rn");
delay(500);
SendOneByte(SendBuf);
}
}
void time0_int() interrupt 1
{
TR0 = 0;
TH0 = (65536-500)/256;
TL0 = (65536-500)%256;
MA++;
if(MA < PWMA)
{
ena = 1; //使用ena来产生pwm波控制A端电机
}
else
ena = 0;
if(MA == 40)
{
MA = 0;
}
MB++;
if(MB < PWMB)
{
enb = 1; //使用enb来产生pwm波控制B端电机
}
else
enb = 0;
if(MB == 40)
{
MB = 0;
}
TR0 = 1;
}
void UARTInterrupt(void) interrupt 4
{
if(RI)
{
RI = 0;
cmd = SBUF;
switch(cmd)
{
case 1:
forward();
break;
case 2:
fallback();
break;
case 3:
quick();
break;
case 4:
slow();
break;
case 0:
stop();
default:
break;
}
}
}
通过串口给单片机发送指令控制电机不同的转动状态，此程序是配合普中51-单核-A4开发板写的。请按需服用。欢迎留言讨论。
/*1、串口发送00，电机停止转动，指示灯1点亮；
2、串口发送01，电机全速正转，指示灯2点亮；
3、串口发送02，电机全速反转，指示灯3点亮；
4、串口发送03，电机50%速度正转，指示灯2闪烁；
5、串口发送04，电机50%速度反转，指示灯3闪烁；
数码管代替指示灯（数码管的正向反向流动，流动速度的快慢代替指示灯）指示灯不亮不闪烁
*/
#include //头文件 #预处理命令符 inclue预处理命令
#define uint unsigned int
#define uchar unsigned char
uchar a,b,i; //定义全局变量a的值域，以便下面函数使用
uchar SendBuf[]="The signal is normal";
//定义数组，储存返回语句
uchar code DMZ50[]={0x01,0x01,0x01,0x01,0x02,0x04,0x08,0x08,0x08,0x08,0x10,0x20}; //流水显示的段码，定义为正
uchar code DMF50[]={0x20,0x10,0x08,0x08,0x08,0x08,0x04,0x02,0x01,0x01,0x01,0x01}; //流水显示的段码，定义为反
uchar code DM0[]={0x49,0x36,0x49,0x36,0x49,0x36,0x49,0x36,0x49,0x36,0x49,0x36,0x49,0x36,0x49,0x36};
//流水显示的段码,停
uchar code DMZ[] = {0x01,0x01,0x01,0x01,0x01,0x01,0x01,0x01,0x02,0x04,
0x08,0x08,0x08,0x08,0x08,0x08,0x08,0x08,0x10,0x20};
uchar code DMF[] = {0x20,0x10,0x08,0x08,0x08,0x08,0x08,0x08,0x08,0x08,
0x04,0x02,0x01,0x01,0x01,0x01,0x01,0x01,0x01,0x01};
***it WA=P2^2;
***it WB=P2^3; //74HC138译码器位选管脚（数码管用）
***it WC=P2^4;
/*蜂鸣器*/
***it BZ=P2^5;
//L298N引脚定义
***it ena = P1^0; //l298n电机驱动的相关引脚
***it in1 = P1^1;
***it in2 = P1^2;
***it in3 = P1^3;
***it in4 = P1^4;
***it enb = P1^5;
uchar MA = 0,MB = 0; //pwm控制用
uchar PWMA = 20;
uchar PWMB = 20;
uchar cmd; //串口接收的命令***uf
void delay(uint z); //声明延时函数
/*数码管*/
void showDigital()
{
switch(cmd)
{
case(0):
for(i=0;i<16;i++)
{
switch(i)
{ case(8):
WA = 0;WB = 0;WC = 0;break;
case(9):
WA = 1;WB = 0;WC = 0;break;
case(10):
WA = 0;WB = 1;WC = 0;break;
case(11):
WA = 1;WB = 1;WC = 0;break;
case(12):
WA = 0;WB = 0;WC = 1;break;
case(13):
WA = 1;WB = 0;WC = 1;break;
case(14):
WA = 0;WB = 1;WC = 1;break;
case(15):
WA = 1;WB = 1;WC = 1;break;
case(7):
WA = 0;WB = 0;WC = 0;break;
case(6):
WA = 1;WB = 0;WC = 0;break;
case(5):
WA = 0;WB = 1;WC = 0;break;
case(4):
WA = 1;WB = 1;WC = 0;break;
case(3):
WA = 0;WB = 0;WC = 1;break;
case(2):
WA = 1;WB = 0;WC = 1;break;
case(1):
WA = 0;WB = 1;WC = 1;break;
case(0):
WA = 1;WB = 1;WC = 1;break;
}
P0 = DM0;
delay(250);
}
break;
case(3):
for(i=0;i<12;i++)
{
switch(i)
{
case(11):
WA = 1;WB = 1;WC = 1;break;
case(10):
WA = 1;WB = 1;WC = 1;break;
case(9):
WA = 1;WB = 1;WC = 1;break;
case(8):
WA = 0;WB = 1;WC = 1;break;
case(7):
WA = 1;WB = 0;WC = 1;break;
case(6):
WA = 0;WB = 0;WC = 1;break;
case(5):
WA = 0;WB = 0;WC = 1;break;
case(4):
WA = 0;WB = 0;WC = 1;break;
case(3):
WA = 0;WB = 0;WC = 1;break;
case(2):
WA = 1;WB = 0;WC = 1;break;
case(1):
WA = 0;WB = 1;WC = 1;break;
case(0):
WA = 1;WB = 1;WC = 1;break;
}
P0 = DMZ50;
delay(50);
}
break;
case(4):
for(i=0;i<12;i++)
{
switch(i)
{
case(0):
WA = 1;WB = 1;WC = 1;break;
case(1):
WA = 1;WB = 1;WC = 1;break;
case(2):
WA = 1;WB = 1;WC = 1;break;
case(3):
WA = 0;WB = 1;WC = 1;break;
case(4):
WA = 1;WB = 0;WC = 1;break;
case(5):
WA = 0;WB = 0;WC = 1;break;
case(6):
WA = 0;WB = 0;WC = 1;break;
case(7):
WA = 0;WB = 0;WC = 1;break;
case(8):
WA = 0;WB = 0;WC = 1;break;
case(9):
WA = 1;WB = 0;WC = 1;break;
case(10):
WA = 0;WB = 1;WC = 1;break;
case(11):
WA = 1;WB = 1;WC = 1;break;
}
P0 = DMF50;
delay(50);
}
break;
case(1):
for(i=0;i<20;i++)
{
switch(i)
{ case(19):
WA = 1;WB = 1;WC = 1;break;
case(18):
WA = 1;WB = 1;WC = 1;break;
case(17):
WA = 1;WB = 1;WC = 1;break;
case(16):
WA = 0;WB = 1;WC = 1;break;
case(15):
WA = 1;WB = 0;WC = 1;break;
case(14):
WA = 0;WB = 0;WC = 1;break;
case(13):
WA = 1;WB = 1;WC = 0;break;
case(12):
WA = 0;WB = 1;WC = 0;break;
case(11):
WA = 1;WB = 0;WC = 0;break;
case(10):
WA = 0;WB = 0;WC = 0;break;
case(9):
WA = 0;WB = 0;WC = 0;break;
case(8):
WA = 0;WB = 0;WC = 0;break;
case(7):
WA = 0;WB = 0;WC = 0;break;
case(6):
WA = 1;WB = 0;WC = 0;break;
case(5):
WA = 0;WB = 1;WC = 0;break;
case(4):
WA = 1;WB = 1;WC = 0;break;
case(3):
WA = 0;WB = 0;WC = 1;break;
case(2):
WA = 1;WB = 0;WC = 1;break;
case(1):
WA = 0;WB = 1;WC = 1;break;
case(0):
WA = 1;WB = 1;WC = 1;break;
}
P0 = DMZ;
delay(25);
}
break;
case(2):
for(i=0;i<20;i++)
{
switch(i)
{ case(0):
WA = 1;WB = 1;WC = 1;break;
case(1):
WA = 1;WB = 1;WC = 1;break;
case(2):
WA = 1;WB = 1;WC = 1;break;
case(3):
WA = 0;WB = 1;WC = 1;break;
case(4):
WA = 1;WB = 0;WC = 1;break;
case(5):
WA = 0;WB = 0;WC = 1;break;
case(6):
WA = 1;WB = 1;WC = 0;break;
case(7):
WA = 0;WB = 1;WC = 0;break;
case(8):
WA = 1;WB = 0;WC = 0;break;
case(9):
WA = 0;WB = 0;WC = 0;break;
case(10):
WA = 0;WB = 0;WC = 0;break;
case(11):
WA = 0;WB = 0;WC = 0;break;
case(12):
WA = 0;WB = 0;WC = 0;break;
case(13):
WA = 1;WB = 0;WC = 0;break;
case(14):
WA = 0;WB = 1;WC = 0;break;
case(15):
WA = 1;WB = 1;WC = 0;break;
case(16):
WA = 0;WB = 0;WC = 1;break;
case(17):
WA = 1;WB = 0;WC = 1;break;
case(18):
WA = 0;WB = 1;WC = 1;break;
case(19):
WA = 1;WB = 1;WC = 1;break;
}
P0 = DMF;
delay(25);
}
break;
}
}
/*全速正转*/
void forward()
{
in1=1; //l298n手册，真值
in2=0;
in3=1;
in4=0;
PWMA = 20;
PWMB = 20;
}
/*全速反转*/
void fallback()
{
in1=0;
in2=1;
in3=0;
in4=1;
PWMA = 20;
PWMB = 20;
}
/*50占空比正转*/
void quick()
{
in1=1;
in2=0;
PWMA = 10;
in3=1;
in4=0;
PWMB = 10;
}
/*50占空比反转*/
void slow()
{
in1=0;
in2=1;
PWMA = 10;
in3=0;
in4=1;
PWMB = 10;
}
/*停*/
void stop()
{
in1=0;
in2=0;
in3=0;
in4=0;
}
void delay(uint z)
{
uint x,y;
for(x=z;x>0;x--)
for(y=115;y>0;y--);
}
void SendOneByte(uchar *str) //串口发送数据
{
while(*str !=' ')
{
SBUF=*str;
while(!TI);
TI=0;
str++;
}
}
void main() //定义主函数，返回值为空
{
//串口定时器 定时器T0
TMOD = 0x21; //T0定时器为工作方式一，T1定时器为工作方式二
PCON = 0x00; //串口初始化相关，波特率
SCON = 0x50; //串口初始化相关，串口工作方式一，允许接收
TH1 = 0xFD; //设置初值
TL1 = 0xFD; //设置初值
TR1 = 1; //开启定时器T1
TH0 = 0xF4; //设置初值
TL0 = 0x48; //设置初值
TR0 = 1; //开启定时器T0
ES = 1; //开放串口中断
PT0 = 1; //定时器0中断优先
ET0 = 1; //开放定时器T0中断
EA = 1; //开放总中断
SendOneByte("Receiving from 8051...rn"); //发送字符串，结尾回车换行
while(1)
{
showDigital();
SendOneByte("rn");
delay(500);
SendOneByte(SendBuf);
}
}
void time0_int() interrupt 1
{
TR0 = 0;
TH0 = (65536-500)/256;
TL0 = (65536-500)%256;
MA++;
if(MA < PWMA)
{
ena = 1; //使用ena来产生pwm波控制A端电机
}
else
ena = 0;
if(MA == 40)
{
MA = 0;
}
MB++;
if(MB < PWMB)
{
enb = 1; //使用enb来产生pwm波控制B端电机
}
else
enb = 0;
if(MB == 40)
{
MB = 0;
}
TR0 = 1;
}
void UARTInterrupt(void) interrupt 4
{
if(RI)
{
RI = 0;
cmd = SBUF;
switch(cmd)
{
case 1:
forward();
break;
case 2:
fallback();
break;
case 3:
quick();
break;
case 4:
slow();
break;
case 0:
stop();
default:
break;
}
}
}
举报
