减速电机上控制.txt

单片机控制的减速机程序

用可变电阻器+减速电机做伺服电机
        $regfile = "m8def.dat"                              '目标单片机为ATmega48
                       $baud = 9600
                       $crystal = 8000000                   '使用内部8M晶振
                      ' Config Serialout = Buffered , Size = 20


                       $prog &HFF , &HE2 , &HDF , &HFF      '单片机熔丝位参数设置:禁止系统时钟8分频
Config Adc = Single , Prescaler = Auto , Reference = Avcc
'设置ADC为单次转换模式，采样频率有编译器自动选择，参考电压使用AVcc
                                                       '下降触发
       Config Timer1 = Timer , Prescale = 1024 , Capture Edge = Falling , Noice Cancel = 1
                     '计时器1计时

Dim A As Byte
Dim W As Integer
Dim X As Integer
Dim M As Integer
Dim S As Word
Dim R As Integer
Dim Q As Long
Dim F As Long
Dim I As Long
Dim C As Byte
                                        '下降沿中断开

                                            '计时器1中断开
On Icp1 Icp_isr

                                                '使能
Enable Capture1

Enable Interrupts



      Timer1 = 0
                                         '装入计时器初值
      Start Timer1


  Ddrb = &B00000010

Ddrd.6 = 1
 Ddrd.7 = 1
Portd = Portd And &B00000000
 Start Adc                                                  '启动ADC转换,adc电阻与一个直流减速电机同轴
    Q = 0
    F = 0'可为预先设频率355
    W = 0
     S = 0


 Do
     Q = Getadc(0)


     Print Q


If W = 0 Then   '测得两次的pwm值，当小于 65536（timer1溢出）时,测得值+65536-旧值，否则新值-旧值
 s=w
  Else
      If S = W Then Goto Lp
    If S > W Then
    S = 65536 - S
    F = S + W
    Else
    F = S - W

    End If
W = 0
end if

lp:

          If Q <> F Then


              If Q > F Then
 Reset Portd.6
 Set Portd.7
 End If

      If Q < F Then                                         '设置PD6,7口为输出驱动电机,伺服电定位于指定角度
      Reset Portd.7
      Set Portd.6
  End If
  End If


     Loop
      End




      Icp_isr:
       S = Capture1
         Return