mainokuse.c

用电键控制步进电机朝各个方向做曲线

#include "reg52.h"
#include "intrins.h"
#include "math.h"
#include <absacc.h>
#include "VIIC_C51.h"
#include "ZLG7290.h"

//端口定义
sbit KEY_INT=P3^2;
sbit PA1=P2^0;
sbit PB1=P2^1;
sbit PC1=P2^2;
sbit PA2=P2^4;
sbit PB2=P2^5;
sbit PC2=P2^6;

//For Tlc2543
sbit CLK = P0^0;
sbit DIN = P0^1;
sbit DOUT = P0^2;
sbit CS = P0^3;

#define Pi 3.141593
//#define step (330./1500)				//单步距离,mm
//#define step (0.21375)				//单步距离,mm
#define step (119/300.)				//单步距离,mm
#define pull 0
#define push 1
#define c 1100.					//两滑轮间距，mm
#define dx 158.					//滑轮到计数点原点投影距离,mm
#define dy 158.
#define minline 2.				//最短直线分段
#define motordelay 1			//电机步间延时
#define gate 0x3f				//传感器门槛
//#define gate 0x0f				//传感器门槛							//I add
#define searth 35				//寻迹步数，35=1cm
//#define searthstep 10			//寻迹最小步子，mm

//#define trace_ru 1              //向右上寻迹
//#define trace_rd 2              //向右下寻迹
//#define trace_lu 3              //向左上寻迹
//#define trace_ld 4              //向左下寻迹

extern unsigned char ZLG7290_GetKey();
void Display(unsigned char  *sd);	//显示程序
void DelayX10ms(int count); 		//Delay time=count*10ms
void Delay(unsigned char no);
//void RunA(long num,bit dir);		//输入转动的步数、方向，完成电机1转动（相对3相电机） 
//void RunB(long num,bit dir);		//输入转动的步数、方向，完成电机1转动（相对3相电机） 
//float Pointab_A(float x,float y);	//坐标变换xy-a
//float Pointab_B(float x,float y);	//坐标变换xy-b
//float Pointxy_X(float a,float b);	//坐标变换xy-a
//float Pointxy_Y(float a,float b);	//坐标变换xy-b
//void Circle(float x,float y,float r);		//画圆程序
//void Stepto(float x, float y);
//void Lineto(float x,float y);
//unsigned int ad549(void);
//unsigned int TraceA(void);
//unsigned int TraceB(void);
//void Mypath (void);
//void Go_ru(void); //右上
//void Go_lu(void); //左上
//void Go_rd(void); //右下
//void Go_ld(void); //左下
//unsigned int ad1(void);
//int Disp();

//int flag_trace;//,Ticks;                  //0:连续； 1：断开

//全局变量
unsigned char key;
unsigned char send[8]={00,00,00,00,00,00,00,00};//定义发送缓冲区 0~3--y 4~6--x 7--sign
float alast,blast,xlast,ylast,xkey,ykey;     
unsigned char disp_buf[8]={0,0,0,0,0,0,0,0};
float sita,ad,xo,yo,kk,searthstep,xolast,yolast,Ticks,Traceflag,xbegin,ybegin;
int ll;  //for trace

void main()
{

sita=45;
searthstep=5;
Ticks=0;

//xo=xlast;
//yo=ylast;						


//int test;
	//电机a初始化	
	PA1=0; 
	PB1=1;
	PC1=1;
	//random();
	//for(test=0;test<9;test++);

	//电机b初始化
	PA2=0; 
	PB2=1; 
	PC2=1;
	Ticks=0;

	while (1)
	{
		static int i;
		while(KEY_INT);
		key=ZLG7290_GetKey();
		if(key==1)i++;
		if(key==2)i--;
		send[0]=i%10;
		send[1]=i/10%10;
		send[2]=i/100%10;
		send[3]=i/1000%10;
		send[7]=key;
		Display(send);
	}

//	Circle(400,500,250);
	
/*	for(;;)
	{
		P0=0;
		P1=0;
		P2=0;
		P3=0;
		_nop_();
		P0=0xff;
		P1=0xff;
		P2=0xff;
		P3=0xff;
		_nop_();

	}
	*/
	//RunA(3000,1);
	//for(;;);
//RunB(2500,0);
	//DelayX10ms(1000);
	//RunA(1500,pull);
	//DelayX10ms(1000);
	//RunB(1500,pull);
	//Delay(2);
	//当前点，以la、lb步数为坐标记，拉减放加
/*
	while (1)
	{
		while(KEY_INT);
		key=ZLG7290_GetKey();
		ykey=send[0]+send[1]*10+send[2]*100+send[3]*1000;
		xkey=send[4]+send[5]*10+send[6]*100;
		switch(key)
		{
			case 1 :send[0]++;	//ymm位	
			if(send[0]==10)
			{
		 		send[0]=00;
			}	
			break; 
			case 2 :send[1]++;//ycm位 
			if(send[1]==10)
			{
				send[1]=00;
			}
			break;
			case 3 :send[2]++;//ydm位
			if(send[2]==10)
			{
				send[2]=00;
			}
			break;
			case 4 :send[3]++;//ym位
			if(send[3]==2)
			{
				send[3]=00;
			}break; 
			case 5 :send[4]++;//xmm位
			if(send[4]==10)
			{
				send[4]=00;
			}
			break;
			case 6 :send[5]++;//xcm位	
			if(send[5]==10)
			{
				send[5]=00;
			}
			break;
			case 7 :send[6]++;//xdm位	
			if(send[6]==8)
			{
				send[6]=00;
			}
			break;
			case 8 :send[7]=1;Lineto(xkey,ykey);send[7]=0; break;
			case 9 :           //输入当前坐标     
		 		xlast=xkey;
				ylast=ykey;
				alast=Pointab_A(xlast,ylast);
				blast=Pointab_B(xlast,ylast);
			break;
			case 10 :RunB(10,pull);	break;
			case 11 :RunB(10,push);	break;
			case 12 :RunA(10,pull);	break;
			case 13 :RunA(10,push);	break;
			case 14 :send[7]=4;
						Ticks=0;
						xo=0;
						yo=0;
						searthstep=5;
						Traceflag=0;
						xolast=xkey;
						yolast=ykey;
						xbegin=xkey;
						ybegin=ybegin;
						
						if(send[0]%2==0)	TraceB();
						else TraceA();
						send[7]=0;break;
			case 15 :send[7]=3;Mypath();send[7]=0;break;
			case 16 :send[7]=2;Circle(xkey,ykey,250);send[7]=0;break;
		}
		Delay(100);
		Display(send);
		//if (key!=9) continue;//等待按键，输入坐标
		//else break;
}
ylast=send[0]+send[1]*10+send[2]*100+send[3]*1000;
xlast=send[4]+send[5]*10+send[6]*100;
//*/

//xlast=400;
//ylast=500;
//alast=Pointab_A(xlast,ylast);
//blast=Pointab_B(xlast,ylast);

//Lineto(0,0);
Display(send);
//DelayX10ms(1000);
//RunA(4000,1);
//RunB(2500,0);
DelayX10ms(1000);

//for(test=0;test<200;test++)
//{RunA(1,1);Delay(100);}
//RunA(200,0);

//Delay(5000);


//Circle(400,500,250);
//DelayX10ms(1000);
//Mypath();
//Trace();
while(1);
}

void Display(unsigned char  *sd)//显示程序
{ 
    disp_buf[0] = sd[0];			
    disp_buf[1] = sd[1];		
    disp_buf[2] = sd[2];   
    disp_buf[3] = sd[3];
    disp_buf[4] = sd[4];
    disp_buf[5] = sd[5];
    disp_buf[6] = sd[6];	
    disp_buf[7] = sd[7];
    ZLG7290_SendBuf(disp_buf,8);
}

void DelayX10ms(int count) //Delay time=count*10ms
{
	unsigned int l,m,n;

	for(l=0;l<count;l++)
		for(m=0;m<12;m++)
			for(n=0;n<120;n++);
}

void Delay(unsigned char no)
{ 
	int  i,j;					//延时参数
  	for(; no>0; no--)
  	{ 
		for(i=0; i<10; i++)
     		for(j=0; j<100; j++)
			    _nop_();
  	}
}

void DelayAD(unsigned char no)
{ 
	int  i,j;					//搞整到轨道中心的每步所用延时参数，消除跳跃
  	for(; no>0; no--)
  	{ 	for(j=0; j<100; j++)
			    _nop_();
  	}
}


//*/
/*
unsigned int Trace (void) //将物体直线运动 5mm*200
{
	int i;
	unsigned ad;
	ll++;
	ll%=38;
	if(ll==37)searthstep+=5;
	if(searthstep>20||Traceflag>0) 
	{
		Traceflag++;
		return 0;
	}
	ad=0;
	for(i=0;i<20;i++)ad+=(float)(ad549());
	ad/=20;
	send[0]=ad%10;
	send[1]=ad/10%10;
	send[2]=ad/100%10;
	send[3]=0;
	send[4]=13;
	send[5]=10;
	send[6]=0;
	Display(send);
	DelayX10ms(1);
	Ticks++;
	if(Ticks==10)Ticks=5;
	if(ad<gate) 
	{
		//*
		if( (sqrt( (xlast-xolast)*(xlast-xolast)-((ylast-yolast)*(ylast-yolast)))<10)&&(Ticks>1))
		{
			sita+=35;
			Lineto(xo+searthstep*sin(sita/360*2*Pi),yo+searthstep*cos(sita/360*2*Pi));
			Trace();	
			if(Traceflag>0)return 0;
		}
		else
		//
		{
			
			//测试
			//sita=45;
		
			
			Lineto(xo+searthstep*sin(45/360*2*Pi),yo+searthstep*cos(45/360*2*Pi));
			xolast=xo;
			yolast=yo;
			xo=xlast;
			yo=ylast;
			searthstep=5;
			Trace();
			if(Traceflag>0)return 0;
		 }
	}
	else
	{
		sita+=35;
		Lineto(xo+searthstep*sin(atan((yo-ybegin)/(xo-xbegin))/360*2*Pi),yo+searthstep*cos((yo-ybegin)/(xo-xbegin)/360*2*Pi));
		Trace();
		if(Traceflag>0)return 0;
	}
	return 0;
}
//*/
/*
unsigned int Trace (void) //将物体直线运动 5mm*200
{
	int i;
	//while(;;)
	{
		while(ad1()<gate) RunA(1,pull);
		for(i=0;i<80;i++)
		{
			RunB(1,pull);
			if(ad549()<gate)break;
		}
		if(i==80)for(i=0;i<160;i++)
		{
			RunB(1,push);
			if(ad549()<gate)break;	
		}
		if(i==160)
		{
			RunB(80,pull);	
			RunA(65,pull);		
			yo++;
		}
		for(i=0;i<80;i++)
		{
			RunA(1,pull);
			if(ad549()<gate)break;
		}
		if(i==80)for(i=0;i<160;i++)
		{
			RunA(1,push);
			if(ad549()<gate)break;	
		}
		if(i==160)
		{
			RunA(80,pull);	
			//RunB(45,push);		
			//yo++;
		}
		Trace();
		xo++;
		if(xo>20||yo>=3)return ;
	}
}
//*/



/*
void Go_ru(bit dir) //右上
{
/*	int i,i1;
	i=ad549();
	send[0]=i%10;
	send[1]=i/10%10;
	send[2]=i/100%10;
	send[3]=i/1000%10;
	send[4]=13;
	send[5]=10;
	send[6]=0;
	Display(send);
	if(flag_trace<97)return ;

	if(dir==0)
	{
		RunA(10,push);
		if(ad549()<gate)//正常
		{
			Go_ru(1);
			flag_trace=99;
		}
		else //没找到
		{
			RunB(20,push); //zhaohuilailiao
			if(ad549()<gate)//正常
			{
				Go_rd(1);
				flag_trace=99;	
			}
			else //没找到
			{
				RunB(20,pull); //tuihuiqu	
				Go_rd(0);
				flag_trace--;
			}
		}
    }
	else
	{
		RunB(10,pull);
		if(ad549()<gate)//正常
		{
			Go_ru(0);
			flag_trace=99;
		}
		else //没找到
		{
			RunB(20,pull); //zhaohuilailiao
			if(ad549()<gate)//正常
			{
				Go_ru(0);
				flag_trace=99;	
			}
			else //没找到
			{
				RunB(20,pull); //tuihuiqu	
				Go_rd(0);
				flag_trace--;
			}
		}
    }
}
	

/*
	int i,i1;
	i=ad549();
	send[0]=i%10;
	send[1]=i/10%10;
	send[2]=i/100%10;
	send[3]=i/1000%10;
	send[4]=13;
	send[5]=10;
	send[6]=0;
	Display(send);
	if(flag_trace<97)return ;
	while(ad549()<gate)RunB(10,pull); //右
	for(i=0;i<searth;i++)while(ad549()>gate)RunA(1,pull);//上
	if(i>=searth) //没找到
	{
		for(i=0;i<searth*2;i++)while(ad549()>gate)RunA(1,push); //下
		if(i>=searth*2) //没找到
		{
			i1=i;
			for(i=0;i<searth*2;i++)RunA(1,pull);	//退回去,上
			flag_trace--;
			Go_lu(); //走左上
		}
		else Go_rd(); //找到，走右下
	}
	else 
	{
		Go_ru();//找到，走右上
		flag_trace=99;
	}
 	//*/
//}


/*
void Go_rd(bit dir) //右下
{
/*	int i,i1;
	i=ad549();
	send[0]=i%10;
	send[1]=i/10%10;
	send[2]=i/100%10;
	send[3]=i/1000%10;
	send[4]=13;
	send[5]=10;
	send[6]=0;
	Display(send);
	if(flag_trace<97)return ;

	if(dir==0)
	{
		RunB(10,pull);
		if(ad549()<gate)//正常
		{
			Go_ru(1);
			flag_trace=99;
		}
		else //没找到
		{
			RunB(20,pull); //zhaohuilailiao
			if(ad549()<gate)//正常
			{
				Go_ru(0);
				flag_trace=99;	
			}
			else //没找到
			{
				RunB(20,pull); //tuihuiqu	
				Go_rd(0);
				flag_trace--;
			}
		}
    }
}

/*	
	int i,i1;
	//flag_trace=trace_rd;
	i=ad549();
	send[0]=i%10;
	send[1]=i/10%10;
	send[2]=i/100%10;
	send[3]=i/1000%10;
	send[4]=13;
	send[5]=10;
	send[6]=0;
	Display(send);
	if(flag_trace<97)return ;
	while(ad549()<gate)RunB(10,pull); //右
	for(i=0;i<searth;i++)while(ad549()>gate)RunA(1,push);//下
	if(i>=searth) //没找到
	{
		for(i=0;i<searth*2;i++)while(ad549()>gate)RunA(1,pull); //上
		if(i>=searth*2) //没找到
		{
			i1=i;
			for(i=0;i<searth*2;i++)RunA(1,push);	//退回去,下
	        flag_trace--;		
			Go_ld(); //走左下
		}
		else Go_ru(); //找到，走右上
	}
	else 
	{
		Go_rd();//找到，走继续右下
		flag_trace=99;
	}
	//*/
//}
/*
void Go_ld(bit dir) //左下
{
	int i,i1;
	//flag_trace=trace_ld;
	i=ad549();
	send[0]=i%10;
	send[1]=i/10%10;
	send[2]=i/100%10;
	send[3]=i/1000%10;
	send[4]=13;
	send[5]=10;
	send[6]=0;
	Display(send);
	if(flag_trace<97)return ;
	while(ad549()<gate)RunB(10,push); //右左
	for(i=0;i<searth;i++)while(ad549()>gate)RunA(1,push);//下
	if(i>=searth) //没找到
	{
		for(i=0;i<searth*2;i++)while(ad549()>gate)RunA(1,push); //上
		if(i>=searth*2) //没找到
		{
			i1=i;
			for(i=0;i<searth*2;i++)RunA(1,pull);	//退回去,下
			flag_trace--;
			Go_rd(); //走右下
		}
		else Go_ru(); //找到，走右上
	}
	else 
	{
		Go_ld();//找到，走左下
		flag_trace=99;
	}
}

void Go_lu(bit dir) //左上
{
	int i,i1;
	//flag_trace=trace_lu;
	i=ad549();
	send[0]=i%10;
	send[1]=i/10%10;
	send[2]=i/100%10;
	send[3]=i/1000%10;
	send[4]=13;
	send[5]=10;
	send[6]=0;
	Display(send);
	if(flag_trace<97)return ;
	while(ad549()<gate)RunB(10,push); //左
	for(i=0;i<searth;i++)while(ad549()>gate)RunA(1,pull);//上
	if(i>=searth) //没找到
	{
		for(i=0;i<searth*2;i++)while(ad549()>gate)RunA(1,push); //下
		if(i>=searth*2) //没找到
		{
			i1=i;
			for(i=0;i<searth*2;i++)RunA(1,pull);	//退回去,上
			flag_trace--;
			Go_ru(); //走右上
		}
		else Go_rd(); //找到，走
	}
	else 
	{
		Go_lu();//找到，走左上
		flag_trace=99;
	}
}
//*/

unsigned int ad549(void)
{
	unsigned char AD1=0;
	unsigned char i;
	unsigned char AD2=0x04;

	CS = 1;
	CLK = 0;
	DOUT= 1; /* Initialize for Read */

	CS = 0; /* Enable and Drive out Bit9 */
	for(i=0;i<8;i++)
	{
		AD1 = AD1<<1;
		DIN=(bit)(AD2&0x80);
		if( DOUT ) AD1 = AD1|0x01; 
		AD2<<=1;
		CLK=1;
		_nop_();
		_nop_();
		CLK=0; /* failing edge drive out bit */
		_nop_();
		_nop_();
	} 
	//AD1 = AD1>>1;
	
	CS = 1;
	for(i=0;i<20;i++); /* delay >21us */
	return ((unsigned int)(AD1));
}


int Disp()
{

	send[0]=(long)ylast%10;
	send[1]=(long)ylast/10%10;
	send[2]=(long)ylast/100%10;
	send[3]=(long)ylast/1000%10;
	send[4]=(long)xlast%10;
	send[5]=(long)xlast/10%10;
	send[6]=(long)xlast/100%10;
	Display(send);
}