三路舵机51程序按键控制角度

三路舵机51程序，按键控制角度加减，可180度

 /*
 机械手 三路舵机程序
 脉冲脚要接10K上拉电阻！！！
*/
#include “STC12C5A.H“

#define H （65536-50）/256;//50us溢出
#define	L （65536-50）%256;

unsigned int  Count=0;	
unsigned int  PWM1PWM2PWM3;

sbit Pulse1 = P0^0;
sbit Pulse2 = P0^1;
sbit Pulse2 = P0^2;

sbit K1  = P2^0;
sbit K2  = P2^1;
sbit K3  = P2^2;
sbit K4  = P2^3;
sbit K5  = P2^4;
sbit K6  = P2^5;
sbit K7  = P2^6;
sbit K8  = P2^7;
void delay（void）   //10ms误差 -0.053530092593us
{
    unsigned char ab;
    for（b=1;b>0;b--）
        for（a=52;a>0;a--）;
}
  

void Init_timer0（void）	
{
	TMOD|=0x01;
	TH0=H;
	TL0=L;
	EA=1;
	ET0=1;
	TR0=1;
}

void timer0（void ） interrupt 1 using 1
{
	TH0=H;		
	TL0=L;

	if（Count++>=400）//PWM计数周期。400x50us=20ms。10<=PWM<=50。
		Count=0;

	if（Count		Pulse1=1;
	else
		Pulse1=0;

	if（Count		Pulse2=1;
	else
		Pulse2=0;
		
	if（Count		Pulse3=1;
	else
		Pulse3=0;			
}
	
void main（void）
{ 
 	Init_timer0（）;
  	PWM1=10;
  	PWM2=10;
	PWM3=10;
	while（1）
	{
		if（Key1==0）//1路角度加
		{
			delay（）;
			if（Key1==0）
			{	
				while（!Key1）;                                                                                                                                                                                                                                                                                                                                                                                                    
				PWM1=PWM1+1;
				if（PWM1>50）
					PWM1=50;			
			}
		}

		if（Key2==0）//1路角度减
		{
			delay（）;
			if（Key2==0）
			{	
				while（!Key2）;                                                                                                                                                                                                                                                                                                                                                                                                    
				PWM1=PWM1-1;
				if（PWM1<10）
					PWM1=10;			
			}
		}


		if（Key3==0）//2路角度加
		{
			delay（）;
			if（Key3==0）
			{	 
				while（!Key3）;                                                                                                                                                                                                                                                                                                                                                                                                   
				PWM2=PWM2+1;
				if（PWM2>50）
					PWM2=50;				
			}
		}

		if（Key4==0）//2路角度减
		{
			delay（）;
			if（Key4==0）
			{	 
				while（!Key4）;                                                                                                                                                                                                                                                                                                         

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     文件       4288  2017-04-12 14:21  三路舵机程序（按键控制角度）\main.c

     目录          0  2017-04-12 14:21  三路舵机程序（按键控制角度）

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