free.c

05年大学生电子设计竞赛试题《悬挂运动物体》程序

#include<reg52.h>
#include<stdio.h>
#include<absacc.h>
#include<math.h>
#pragma REGPARMS
//定义为变量
sbit cpl=P1^4;
sbit dir_left=P1^5;
sbit cpr=P1^6;
sbit dir_righ=P1^7;
/*unsigned char data ttm;
unsigned int data ttmh;*/
unsigned char firstnode[2];
unsigned char secondnode[2];
unsigned char finalnode[2];//给定坐标

unsigned char xdata DGS _at_ 0xe200;
unsigned char xdata DGD _at_ 0xe400;
unsigned char xdata PKEY _at_ 0xe000;

void led(void);
unsigned char key_value(void);
int axis_value(void);
void jetfree(void);
float line_k(void);
int cacul_pull(void);
int cacul_pulr(void);//计算脉冲数
void motor(int pul_ln,int pul_rn);//电机转动程序

extern unsigned char delay2(unsigned char);	
extern unsigned char ldseg2(unsigned char);






//主程序
void main(void)
{ firstnode[0]=0;
  firstnode[1]=0; 
while(1)
 {led();
 jetfree();
 }
}




unsigned char key_value(void)//0~F
{
  unsigned char data x1,x2,x3,x4;
  	x1=4;
	x3 = 0xFF;
	for(x2=0x08;x2>=1;x2=x2/2)//0x80 0x40 0x20 0x10  0x08 0x04 0x02 0x01
			{
				DGD=x2;          //选择行
		        DGS = 0x00;
				
				x4=15-(PKEY&15);//
			   if(x4!=0)
			   {	
				x3=(7-x1)*4;
				while(x4!=1){x3++;x4/=2;}
				}
				x1++;
			}
 	return(x3);
}

int axis_value(void) 
{unsigned char m,n,o,p=16,i,b;int c;
 
 while(p>=10)
 {p=key_value();}m=p;
 while(p<=9)
 {p=key_value();}

 
 
 
 while(p>=10)
 {for(i=0;i<6;i++){DGD=0x01;DGS=ldseg2(m);delay2(50);}p=key_value();}
 n=p;
  while(p<=9)
 {p=key_value();}
 
 while(p>=10)
 {for(i=0;i<6;i++){DGD=0x01;DGS=ldseg2(m);delay2(50);DGD=0x02;DGS=ldseg2(n);delay2(50);}p=key_value();}
 o=p;

  while(p<=9)
  {p=key_value();}

 
 
 while(p>=10)
 {for(i=0;i<20;i++){DGD=0x01;DGS=ldseg2(m);DGD=0x02;DGS=ldseg2(n);
  DGD=0x10;DGS=ldseg2(o);delay2(50);} p=key_value();}b=p;
  
 c=1000*m+100*n+10*o+b;
 return c;
 }
 void led(void)
 {int a,b,c,d,e;char p;
 e=axis_value();
 a=e/1000;
 b=e/100-10*a;
 d=e%10;
 c=(e%100-d)/10; 

 
 while(p!=10)
 {DGD=0x01;DGS=ldseg2(a);delay2(20);
  DGD=0x02;DGS=ldseg2(b);delay2(20);
  DGD=0x10;DGS=ldseg2(c);delay2(20);
  DGD=0x20;DGS=ldseg2(d);delay2(20);p=key_value();
 }finalnode[0]=a*10+b;finalnode[1]=c*10+d;
 }




     //自由定坐标运动函数
void jetfree(void)
      {  float lk;
         char cirst;
         int i,x,pull,pulr; 
          while( cirst!=12)//定义12键为yetfree的送数键
          { 
           cirst=key_value();
           }
         x=finalnode[0]-firstnode[0];
         lk=line_k();
         for(i=0;i<abs(x/0.2);i++)
             {
              secondnode[0]=firstnode[0]+0.2;
              secondnode[1]=firstnode[1]+0.2*lk;
              pull=cacul_pull();
              pulr=cacul_pulr();
              motor(pull,pulr);//电机转动程序
              firstnode[0]=secondnode[0];
              firstnode[1]=secondnode[1];
              } 
          }



float line_k(void)//计算斜率
  { 
    float k;
    k=(finalnode[1]-firstnode[1])/(finalnode[0]-firstnode[0]);
    return(k);
   }



int cacul_pull(void)//计算脉冲数
    {
      int pulnum;
      float len1,len2;
         len1=sqrt((115-firstnode[1])*(115-firstnode[1])+(firstnode[0]+15)*(firstnode[0]+15));
         len2=sqrt((115-secondnode[1])*(115-secondnode[1])+(secondnode[0]+15)*(secondnode[0]+15));
         pulnum=(len2-len1)/0.009;

          return(pulnum);
        }


int cacul_pulr(void)//计算脉冲数
    {
      int pulnum;
      float len1,len2;
         len1=sqrt((115-firstnode[1])*(115-firstnode[1])+(firstnode[0]-95)*(firstnode[0]-95));
         len2=sqrt((115-secondnode[1])*(115-secondnode[1])+(secondnode[0]-95)*(secondnode[0]-95));
         pulnum=(len2-len1)/0.009;

         return(pulnum);
        }


 void motor(int pul_ln,int pul_rn)//电机转动程序
      {
       int a,i,j;
       if(pul_ln>0)
         dir_left=1;//设定高电平为正传
       else
 	     {pul_ln=-pul_ln;
         dir_left=0;}
        if(pul_rn>0)
         dir_righ=1;//设定高电平为正传
       else 
         dir_righ=0;
       a=(pul_ln>pul_rn?pul_rn:pul_ln);
       for(i=a;i>0;i--)
          { for(j=500;j>0;j--);
            cpl=!cpl;
            cpr=!cpr;}
       if(pul_ln>pul_rn)
              { for(i=pul_ln-a;i>0;i--)
                { for(j=500;j>0;j--);
                     cpl=!cpl;
                      }
               }
              
           else 
                 { for(i=pul_ln-a;i>0;i--)
                   { for(j=500;j>0;j--);
                     cpr=!cpr;
                      }
                   }
          }