1.c

基于51单片机的步进电机驱动,有各种转角控制,转向控制等.

sfr P1= 0x90;
#include"reg52.h"
#include"user.h"
#include"math.h"
#define uchar unsigned char

#define out P1
sbit EN=P3^7;

void run(int motor_A_counter,int motor_B_counter)
{
	uchar state_A,state_B,new_state,temp1,temp2;
	unsigned int temp_A,temp_B;

	if (motor_A_counter==0)
	goto B;
	if (motor_A_counter>0)
	{
		temp_A=abs(motor_A_counter);
		while((temp_A--)!=0)
		{
			temp1=out;
			temp1 &=0x0f;

			
			state_A=out;
			state_A &= 0xf0;
			state_A>>=4;
			

			switch (state_A)
			{
				case 1:
				new_state=3;
				break;

				case 3:
				new_state=2;
				break;

				case 2:
				new_state=6;
				break;

				case 6:
				new_state=4;
				break;

				case 4:
				new_state=12;
				break;

				case 12:
				new_state=8;
				break;

				case 8:
				new_state=9;
				break;

				case 9:
				new_state=1;
				break;

			}
			new_state<<=4;
			out=new_state | temp1;
			delay(3);
		}
	}
	if (motor_A_counter<0)
	{
		temp_A=abs(motor_A_counter);
		while((temp_A--)!=0)
		{
			temp1=out;
			temp1 &=0x0f;
			state_A=out;
			state_A &= 0xf0;
			state_A>>=4;

			switch (state_A)
			{
				case 9:
				new_state=8;
				break;

				case 8:
				new_state=12;
				break;

				case 12:
				new_state=4;
				break;

				case 4:
				new_state=6;
				break;

				case 6:
				new_state=2;
				break;

				case 2:
				new_state=3;
				break;

				case 3:
				new_state=1;
				break;

				case 1:
				new_state=9;
				break;

			}
			new_state<<=4;
			out=new_state | temp1;
			delay(3);
		}
	}

//----------------------------------------------------------------


B:	if (motor_B_counter==0)
	goto exit;
	if (motor_B_counter>0)
	{
		temp_B=abs(motor_B_counter);
		while((temp_B--)!=0)
		{
			temp2=out;
			temp2 &=0xf0;
			state_B=out;
			state_B &= 0x0f;
			

			switch (state_B)
			{
				case 1:
				new_state=3;
				break;

				case 3:
				new_state=2;
				break;

				case 2:
				new_state=6;
				break;

				case 6:
				new_state=4;
				break;

				case 4:
				new_state=12;
				break;

				case 12:
				new_state=8;
				break;

				case 8:
				new_state=9;
				break;

				case 9:
				new_state=1;
				break;

			}
			
			out=new_state | temp2;
			delay(3);
		}
	}
	if (motor_B_counter<0)
	{
		temp_B=abs(motor_B_counter);
		while((temp_B--)!=0)
		{
			temp2=out;
			temp2 &=0xf0;
			state_B=out;
			state_B &= 0x0F;
		

			switch (state_B)
			{
				case 9:
				new_state=8;
				break;

				case 8:
				new_state=12;
				break;

				case 12:
				new_state=4;
				break;

				case 4:
				new_state=6;
				break;

				case 6:
				new_state=2;
				break;

				case 2:
				new_state=3;
				break;

				case 3:
				new_state=1;
				break;

				case 1:
				new_state=9;
				break;

			}
			
			
			out=new_state | temp2;
			delay(3);
		}
	}

exit :   delay(1);

}





	


void main(void)
{
//	uchar code a[8]={0x11,0x33,0x22,0x66,0x44,0xcc,0x88,0x99};

	
	double L1,L2,x,y,H,W;

	EN=0;
	out=0x11;
	H=10000;
	W=10000;
	x=1;
	y=1;
	
	L1=sqrt(x*x+(H-y)*(H-y));
	L2=sqrt((W-x)*(W-x)+(H-y)*(H-y));

	
	while(1)
	{
		run(-1,0);
	
	
	}

	

}