s.c

单片机控制两个步进电机实现小车的走直线和转弯

#include <reg52.h>
#include <intrins.h>
#define hi 0x3c
#define lo 0xb0
#define uchar unsigned char
#define uint unsigned int
unsigned int t0_count,t1_count,step=0;a=400;b=400;
unsigned char out0[9]={0x01,0x03,0x02,0x06,0x04,0x0c,0x08,0x09,0x00};
unsigned char out1[8]={0x01,0x03,0x02,0x06,0x04,0x0c,0x08,0x09};
void gorun();
void zhuanwan();
void juxing();
void yuan();
void delay(int n)
{
  int i,j;
  for(i=0;i<n;i++)
   for(j=0;j<n;j++);
}
void gorun()
{
   
   int i;
   P0=out0[i];
   P1=out1[i];
   delay(60);
    i++;
    if(i>7) i=0;
}
void zhuanwan()
{
  int i;
   P0=out0[8];
   P1=out1[i];
   delay(60);
    i++;
    if(i>7) i=0;
    
	step++;
	if(step==0.55*a+150||step==0.55*a+300+0.55*b||step==1080)
	gorun();
}
void juxing()
{  
   if(step>=0.55*a&&step<0.55*a+150||step>=0.55*a+150+0.55*b&&step<0.55*a+300+0.55*b||step>=0.55*a*2+300+0.55*b&&step<0.55*a*2+450+0.55*b)
     zhuanwan(); 
     else {//gorun();
	       //if(step>=1250) P1=0x00;
		   if(step<0.55*a*2+450+0.55*b*2) gorun();}
   
}
 void t0() interrupt 1
{ TH0=hi;TL0=lo;t0_count++;step++;
  
}
void main()
{
  TMOD=0X11;
 EA=1;ET0=1;ET1=1;TR0=1;TH0=0x3c;TL0=0xb0;
 while(1)
 { juxing();

 }
}