exfiles.c

06年参加大学电子竞赛编的程序。题目为摆垂运动控制系统。

//单摆运动程序：
#include	<pic.h>
#include	<math.h>
#include	<stdlib.h>
int i,j,k,m,n,x,y,t,left,right,posi=1,tr0,tr1,tr2,tr3,tmr;


void youbai(int);			///电机反转,顺时针
void zuobai(int);			///电机正转,逆时针
void baidong(void);
void ccp();

    	
void baidong()
	{
	 
	 
	 for(j=t;j--;){asm("call delay25ms");};
	 zuobai(6);
	 for(j=t;j--;){asm("call delay25ms");};
	 youbai(6);
	}	 


void zuobai(left)
	{for (i=left;i;)
	{while(posi==4)			///posi 为位置position标志位
	 { PORTD=0x0a;
	  asm("call delay50ms");
	  i--;
	  posi=1;};
	  if (i==0) break;
	 while(posi==1)
	  {
	  PORTD=0x06;
	  asm("call delay50ms");
	  i--;
	  posi=2;};
	  if (i==0) break;
	  while(posi==2)
	  {
	  PORTD=0x05;
	  asm("call delay50ms");
	  i--;
	  posi=3;};
	  if (i==0) break;
	  while(posi==3)
	  {
	  PORTD=0x09;
	  asm("call delay50ms");
	  i--;
	  posi=4;};
	  if (i==0) break;	  
	  }
	 }
void youbai(right)
	{for (i=right;i;)
	{while(posi==1)			///posi 为位置position标志位　
	 { PORTD=0x09;
	  asm("call delay50ms");
	  i--;
	  posi=4;};
	  if (i==0) break;
	 while(posi==4)
	  {
	  PORTD=0x05;
	  asm("call delay50ms");
	  i--;
	  posi=3;};
	  if (i==0) break;
	  while(posi==3)
	  {
	  PORTD=0x06;
	  asm("call delay50ms");
	  i--;
	  posi=2;};
	  if (i==0) break;
	  while(posi==2)
	  {
	  PORTD=0x0a;
	  asm("call delay50ms");
	  i--;
	  posi=1;};
	  if (i==0) break;	  
	  }
	 }

	 
	 #asm
delay5ms
	movlw	0ah
	movwf	_tr0
t1loop1
	movlw	0a5h
	movwf	_tr1
t1loop2
	decfsz	_tr1
	goto	t1loop2
	decfsz	_tr0
	goto	t1loop1
	return
delay50ms
	movlw	0ah
	movwf	_tr2
	call	delay5ms
	decfsz	_tr2
	goto $-2
	return
delay25ms
	movlw	05h
	movwf	_tr3
	call	delay5ms
	decfsz	_tr3
	goto $-2
	return
	#endasm
void stopmoter()
	{
	ccp();
	x=0;
	y=0;
	if(RC1==0) x=x+1;
	asm("nop");
	if(RC4==0) y=y+1;
	asm("nop");
	if((x%2==0)&&(y%2==1))
	zuobai(1);
	if((x%2==1)&&(y%2==0))
	youbai(1);
	}
void 	ccp()
	{
	INTCON=0X00;
	PIE1=0;
	PIR1=0;
	TRISC=0X57;
	CCP1CON=0X05;		
	
	TMR1IE=0;
	TMR1IF=0;
	T1CON=0X30;		
	TMR1ON=1;		



	CCP1IF=0;		
	if(CCP1IF==1) 
		{TMR1H=0;TMR1L=0;};
	CCP1IF=0;
	if(CCP1IF==1)
		{tmr=TMR1L+TMR1H*0x100;};
}

	
	
	 main()
	{
	 TRISD=0x00;
	 PORTD=0x0a;
	 youbai(3);
	 for(k=9;k--;)
	 {t=18;
	 baidong();};
	 for(k=77;k--;)
	 {t=16;
	 baidong();};
	 do
	 {t=22;
	  baidong();}while(1);
	 stopmoter();


	}