伺服电机驱动.c

用C51实现多个舵机的分时复用控制:在KELI CX51采用混合编程用一个字节的位移实现.

#include<reg51.h>
#define uint unsigned int
#define uchar unsigned char
uchar SM[8]={15,15,15,15,15,15,15,15};
void initial(void);
void delay_1ms(uint n){
     uint i;
     for(i=0;i<n;i++){
       ET1=0;
	   TMOD=0X12;
 	   TL1=0x40;
	   TH1=0xFC;
	   TF1=0;
	   TR1=1;
	   while(!TF1);
	   TR1=0;
      }
}
extern void sm_drive(uchar *sm);
void main(void){
	 initial();
     while(1){
	 SM[0]=6;
   //SM[1]=
   //SM[2]=
   //SM[3]=
   //SM[4]=
   //SM[5]=
   //SM[6]=
     SM[7]=6;
	 sm_drive(SM);
	 delay_1ms(1000);
     SM[0]=12;
     SM[7]=12;
	 sm_drive(SM);
	 delay_1ms(1000);
     SM[0]=18;
     SM[7]=18;
	 sm_drive(SM);
	 delay_1ms(1000);
     SM[0]=22;
     SM[7]=22;
	 sm_drive(SM);
	 delay_1ms(1000);
	 }
}