main.c

日本产五相步进电机的正转及反转动作控制。

#include<motor.h>
unsigned char motoCou;
main()
{
    unsigned char KeyValue;
    bit	          key1,key2;
	///系统初始化
    key1=0;
    key2=0;
	CON1=0;
	CON2=0;
	CON3=0;
	CON4=0;
	CON5=0;  
/*    ///系统硬件设置
	TMOD 	= 	0x20;
    TH1 	= 	0x0fd;		//9600
    SCON 	= 	0x50;
    PCON 	= 	0;
	TR1	    =	1;
	ES		=	1;
	EA		=	1;   
    while(1)
    {
        
        CON5=1;
        CON1=0;
        delay(500);
        CON1=1;
    	CON2=0;
        delay(500);
        CON2=1;
    	CON3=0;
        delay(500);
        CON3=1;
    	CON4=0;
        delay(500);
        CON4=1;
    	CON5=0;
        delay(500);
        
    }  */
    delay(2000);
    while(1)
    {
        WDI=!WDI;
        KeyValue=scankey();
        switch(KeyValue)
        {
            case 0: break;
            case 1: key1=~key1;break;
            case 2: key2=~key2;break;
        }
        if((key1==1) && (key2!=1)) doUp();
        else if((key2==1) && (key1!=1))
        {
            if(BUTTON==0) continue;
            else doDown();
        }
        else doStop();
        delay(100);
    }
}
    ///子函数定义
void delay(long d)
{
	while(d--) 
    {
        WDI=!WDI;
    }
}

void doMoto(long i)
{
//	WDI=!WDI;
	switch(motoCou)
	{
	case 0:
		CON1=1;
		CON2=1;
		CON3=0;
		CON4=0;
        CON5=0;
        delay(i);
		break;
	case 1:
		CON1=0;
		CON2=1;
		CON3=1;
		CON4=0;
		CON5=0;
        delay(i);
		break;
	case 2:
		CON1=0;
		CON2=0;
        CON3=1;
		CON4=1;
		CON5=0;
        delay(i);
		break;
	case 3:
		CON1=0;
		CON2=0;
		CON3=0;
		CON4=1;
		CON5=1;
        delay(i);
		break;
	case 4:
		CON1=1;
		CON2=0;
		CON3=0;
		CON4=0;
		CON5=1;
        delay(i);
		break;
	}
//	delay(200);
}

void doUp()
{
	motoCou++;
	if(motoCou > 4)
	{
		motoCou=0;
	}
	doMoto(250);
}

void doDown()
{
	if(BUTTON==0)
	{
		delay(500);
        return;
	}
	if(motoCou==0)
	{
		motoCou=4;
	}
	else
	{
		motoCou--;
	}
	doMoto(500);
}

void doStop(void)
{
    CON1=0;
	CON2=0;
	CON3=0;
	CON4=0;
	CON5=0;
}

unsigned char scankey(void)
{
	unsigned char key;
    BUTTON_UP=1;
    BUTTON_DOWN=1;
    key=0;
    delay(10);
	key=BUTTON_UP;
    if(BUTTON_UP==0) delay(20);
    if(BUTTON_UP==0) 
    {
        while(BUTTON_UP==0)
        {
            WDI=!WDI;
        }
        return 1;
    }
    key=0;
    delay(10);
    key=BUTTON_DOWN;
    if(BUTTON_DOWN==0) delay(20);
    if(BUTTON_DOWN==0) 
    {
        while(BUTTON_DOWN==0)
        {
            WDI=!WDI;
        }
        return 2;
    } 
    else return 0;
}