📄 multistep._c

📁 在ATMEGA128单片机上开发的一个机器人控制程序
💻 _C
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//************************************************************
//12路PWM波程序
//王超炎2005-05-05
//********************************************************
#include <iom128v.h>
#include <macros.h>
#include "data.h"
unsigned int N1=4;
unsigned int N2=20;
unsigned int N3=20;
unsigned int N4=10;
unsigned int cycle_start1=192;
unsigned int cycle_start2=3;
unsigned int cycle_start3=2;
unsigned int cycle_start4=2;
unsigned int totalstep1=392;
unsigned int totalstep2=11;
unsigned int totalstep3=6;
unsigned int totalstep4=7;
void port_init(void)
{ 
 DDRA  = 0xFF;
 PORTA = 0x00;
 DDRC  = 0xFF;
 PORTC = 0x00;
 }

void timer1_init(void)
{
 TCCR1A = 0x00;
 TCNT1= 0x00; 

 
}
void ClrAll(void)
{ 
 PORTA = 0x00;
 PORTC = 0x00;
 }




//*******************************************************************************
//函数名: Motion_init(void) 
//参  数：无
//功  能：初始化动作
//******************************************************************************* 
void Motion_init(void)  
  { int i=0,j=0,t=0,temp=0,temp1,temp2;
    for(t=0;t<50;t++)    
      { for(j=1;j<9;j++)	
 	    {  
		if(j<5)
		{PORTA|=(1<<(j-1));	
        temp2=2250+(j-1)*3750;
		}
		PORTC|=(1<<(j-1));	
        temp1=2250+(j-1)*3750;	
        do{ temp=TCNT1;	
 	    if(temp>temp1)PORTC&=~(1<<(j-1));	
  		if(temp>temp2)PORTA&=~(1<<(j-1));
  	      }while(temp<j*3750);        
  	   }
     TCNT1=0;  
  }    
  }  
  //*******************************************************************************
//函数名: Motion() 
//参  数：
//功  能：
//******************************************************************************* 
  
  void Motion_excute(unsigned int p)
  { 
  unsigned int i=0,t=0,j=0;
  unsigned int temp1=0,temp2=0,temp=0;   
  if(p==1)
 { for(i=0;i<cycle_start1;i++)
  for(t=angle1[i][0];t>0;t--)    
  { TCNT1=0x00;
	for(j=1;j<9;j++)	
   {if(j<5)
   {PORTA|=(1<<(j-1));	
    temp2=(50*angle1[i][j+8]/3+750)+(j-1)*3750;}
	PORTC|=(1<<(j-1));	
    temp1=(50*angle1[i][j]/3+750)+(j-1)*3750;	
    do{temp=TCNT1;	
 	    if(temp>temp1)PORTC&=~(1<<(j-1));	
  		if(temp>temp2)PORTA&=~(1<<(j-1));}while(temp<j*3750);        
  	 }
    TCNT1=0x00;		
    }
do{ 
  for(i=cycle_start1;i<totalstep1;i++)
  for(t=angle1[i][0];t>0;t--)
 {TCNT1=0x00;	
  for(j=1;j<9;j++)	
  { if(j<5)
	{PORTA|=(1<<(j-1));	
     temp2=(50*angle1[i][j+8]/3+750)+(j-1)*3750;}
     PORTC|=(1<<(j-1));	
     temp1=(50*angle1[i][j]/3+750)+(j-1)*3750;	       
 	 do{ temp=TCNT1;	
 	     if(temp>temp1)PORTC&=~(1<<(j-1));	
         if(temp>temp2)PORTA&=~(1<<(j-1));
  	   } while(temp<j*3750);        
  }
     TCNT1=0x00;		
  }	 
	 N1--;	 
  } while(N1); 
  
  for(i=0;i<4;i++)
  for(t=angle1_2[i][0];t>0;t--)    
  { TCNT1=0x00;
	for(j=1;j<9;j++)	
   {if(j<5)
   {PORTA|=(1<<(j-1));	
    temp2=(50*angle1_2[i][j+8]/3+750)+(j-1)*3750;}
	PORTC|=(1<<(j-1));	
    temp1=(50*angle1_2[i][j]/3+750)+(j-1)*3750;	
    do{temp=TCNT1;	
 	    if(temp>temp1)PORTC&=~(1<<(j-1));	
  		if(temp>temp2)PORTA&=~(1<<(j-1));}while(temp<j*3750);}
    TCNT1=0x00;		
    }
  
  
  
  } 
   
    if(p==2)
 { for(i=0;i<cycle_start2;i++)
  for(t=angle2[i][0];t>0;t--)    
  { TCNT1=0x00;
	for(j=1;j<9;j++)	
   {if(j<5)
   {PORTA|=(1<<(j-1));	
    temp2=(50*angle2[i][j+8]/3+750)+(j-1)*3750;}
	PORTC|=(1<<(j-1));	
    temp1=(50*angle2[i][j]/3+750)+(j-1)*3750;	
    do{temp=TCNT1;	
 	    if(temp>temp1)PORTC&=~(1<<(j-1));	
  		if(temp>temp2)PORTA&=~(1<<(j-1));}while(temp<j*3750);        
  	 }
    TCNT1=0x00;		
    }
do{ 
  for(i=cycle_start2;i<totalstep2;i++)
  for(t=angle2[i][0];t>0;t--)
 {TCNT1=0x00;	
  for(j=1;j<9;j++)	
  { if(j<5)
	{PORTA|=(1<<(j-1));	
     temp2=(50*angle2[i][j+8]/3+750)+(j-1)*3750;}
     PORTC|=(1<<(j-1));	
     temp1=(50*angle2[i][j]/3+750)+(j-1)*3750;	       
 	 do{ temp=TCNT1;	
 	     if(temp>temp1)PORTC&=~(1<<(j-1));	
         if(temp>temp2)PORTA&=~(1<<(j-1));
  	   } while(temp<j*3750);        
  }
     TCNT1=0x00;		
  }	 
	 N2--;	 
  } while(N2); 
  
    for(i=0;i<4;i++)
  for(t=angle2_3[i][0];t>0;t--)    
  { TCNT1=0x00;
	for(j=1;j<9;j++)	
   {if(j<5)
   {PORTA|=(1<<(j-1));	
    temp2=(50*angle2_3[i][j+8]/3+750)+(j-1)*3750;}
	PORTC|=(1<<(j-1));	
    temp1=(50*angle2_3[i][j]/3+750)+(j-1)*3750;	
    do{temp=TCNT1;	
 	    if(temp>temp1)PORTC&=~(1<<(j-1));	
  		if(temp>temp2)PORTA&=~(1<<(j-1));}while(temp<j*3750);}
    TCNT1=0x00;		
    }
  
  
  
  
  } 
    if(p==3)
 { for(i=0;i<cycle_start3;i++)
  for(t=angle3[i][0];t>0;t--)    
  { TCNT1=0x00;
	for(j=1;j<9;j++)	
   {if(j<5)
   {PORTA|=(1<<(j-1));	
    temp2=(50*angle3[i][j+8]/3+750)+(j-1)*3750;}
	PORTC|=(1<<(j-1));	
    temp1=(50*angle3[i][j]/3+750)+(j-1)*3750;	
    do{temp=TCNT1;	
 	    if(temp>temp1)PORTC&=~(1<<(j-1));	
  		if(temp>temp2)PORTA&=~(1<<(j-1));}while(temp<j*3750);        
  	 }
    TCNT1=0x00;		
    }
do{ 
  for(i=cycle_start3;i<totalstep3;i++)
  for(t=angle3[i][0];t>0;t--)
 {TCNT1=0x00;	
  for(j=1;j<9;j++)	
  { if(j<5)
	{PORTA|=(1<<(j-1));	
     temp2=(50*angle3[i][j+8]/3+750)+(j-1)*3750;}
     PORTC|=(1<<(j-1));	
     temp1=(50*angle3[i][j]/3+750)+(j-1)*3750;	       
 	 do{ temp=TCNT1;	
 	     if(temp>temp1)PORTC&=~(1<<(j-1));	
         if(temp>temp2)PORTA&=~(1<<(j-1));
  	   } while(temp<j*3750);        
  }
     TCNT1=0x00;		
  }	 
	 N3--;	 
  } while(N3); 
  
   
  for(i=0;i<4;i++)
  for(t=angle3_4[i][0];t>0;t--)    
  { TCNT1=0x00;
	for(j=1;j<9;j++)	
   {if(j<5)
   {PORTA|=(1<<(j-1));	
    temp2=(50*angle3_4[i][j+8]/3+750)+(j-1)*3750;}
	PORTC|=(1<<(j-1));	
    temp1=(50*angle3_4[i][j]/3+750)+(j-1)*3750;	
    do{temp=TCNT1;	
 	    if(temp>temp1)PORTC&=~(1<<(j-1));	
  		if(temp>temp2)PORTA&=~(1<<(j-1));}while(temp<j*3750);}
    TCNT1=0x00;		
    }
  } 
    if(p==4)
 { for(i=0;i<cycle_start4;i++)
  for(t=angle4[i][0];t>0;t--)    
  { TCNT1=0x00;
	for(j=1;j<9;j++)	
   {if(j<5)
   {PORTA|=(1<<(j-1));	
    temp2=(50*angle4[i][j+8]/3+750)+(j-1)*3750;}
	PORTC|=(1<<(j-1));	
    temp1=(50*angle4[i][j]/3+750)+(j-1)*3750;	
    do{temp=TCNT1;	
 	    if(temp>temp1)PORTC&=~(1<<(j-1));	
  		if(temp>temp2)PORTA&=~(1<<(j-1));}while(temp<j*3750);        
  	 }
    TCNT1=0x00;		
    }
do{ 
  for(i=cycle_start4;i<totalstep4;i++)
  for(t=angle4[i][0];t>0;t--)
 {TCNT1=0x00;	
  for(j=1;j<9;j++)	
  { if(j<5)
	{PORTA|=(1<<(j-1));	
     temp2=(50*angle4[i][j+8]/3+750)+(j-1)*3750;}
     PORTC|=(1<<(j-1));	
     temp1=(50*angle4[i][j]/3+750)+(j-1)*3750;	       
 	 do{ temp=TCNT1;	
 	     if(temp>temp1)PORTC&=~(1<<(j-1));	
         if(temp>temp2)PORTA&=~(1<<(j-1));
  	   } while(temp<j*3750);        
  }
     TCNT1=0x00;		
  }	 
	 N4--;	 
  } while(N4); 
  } 
  
  
  
  
  }
  
//*******************************************************************************
//函数名: main() 
//参  数：
//功  能：
//*******************************************************************************
  
  void main(void)
 {void port_init(void);//I/O端口的初始化 
  void timer1_init(void); //定时器的初始化
  void Motion_init(void); 
  void ClrAll(void);
  void Motion_excute(unsigned int p);
  CLI(); //disable all interrupts
  MCUCR=0x00;
  XDIV  = 0x00; //xtal divider
  XMCRA = 0x00; //external memory
  port_init();
  timer1_init();
  ClrAll();
  TCCR1B = 0x02; //start Timer
  Motion_init();
  TCNT1=0;
  TCNT0=0x00;
  Motion_init(); 
  ClrAll();      
  Motion_excute(1);
  Motion_init();
  Motion_excute(2);
  Motion_init();
  Motion_excute(3);
  Motion_init();
  Motion_excute(4);
  Motion_init();
  ClrAll();
  
}
💿 文件大小 742 K
👤 上传用户 stzwsy
📂 所属分类单片机开发
🏷️ 相关标签

#ATMEGA #128 #单片机 #机器人控制
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