motor_driver.c

本程序 为51单片机的直流电机 和交流电机的驱动程序 可以直接调用

//####################################################################################
//######	name       || writer ||     time   ||  place   ||#########################
//######-----------------------------------------------------#########################
//######motor_driver.c || freela ||	 2008/10/14|| 暨南大学 ||#########################
//####################################################################################

#include <at89x52.h>
#define left 0
#define  right 1
#define high 1
#define low 0
#define  uchar unsigned char
#define  uint  unsigned int



/***************************/
void mdelay(uint i);

/*****步进电机驱动函数*******/
void step_motor_run(uchar direction,uchar steps,uint ms_per_step,uchar HL)
{  
    //direction 为方向，steps为步数，ms_per_step为每步用时ms数
    // HL选择用P2口的高4位还是低4位控制。
   static uchar i=0;
   static uchar j=4;
   uchar code data1[]={0xfe,0xfd,0xfb,0xf7,0xef,0xdf,0xbf,0x7f};
   if(HL==low)
   { 
      if(direction==0)
	   {
	     for(;steps!=0;steps--)
		    {  P2=data1[i];
			   mdelay(ms_per_step);
			   if(i==3)i=0;
			    else i++;
			 }		
		}
	   else
	   {  for(;steps!=0;steps--)
	       {  
		      P2=data1[i];
		      mdelay(ms_per_step);
		      if(i==0)i=3;
		      else i--;
		   }	
		}
	  }
	else
	{
	   if(direction==0)
	      { 
		     for(;steps!=0;steps--)
	          {
		       P2=data1[j];
			   mdelay(ms_per_step);
			   if(j==7)j=4;
			   else j++;
			   }		
			}
		 else
		   {
		     for(;steps!=0;steps--)
			   {
			     P2=data1[j];
				 mdelay(ms_per_step);
				 if(j==4)j=7;
				 else j--;
				}
			}

		}
  P2=0xff;			  
}
/*****P3_7/P3_6控制直流电机*******/
void DCmotor1(uchar direction,uint ms_time)
{  
   
   if(direction==right)
     {
	     P1_0=0;
		 P1_1=1;
		 mdelay(ms_time);
	  }
	else 
	  {  P1_1=0;
	     P1_0=1;
		 mdelay(ms_time);
	   }
    P1_1=P1_0;
 }
/******P3_5/P3_4***************/
void DCmotor2(uchar direction,uint ms_time)
{   
   if(direction==right)
     {
	     P3_5=0;
		 P3_4=1;
		 mdelay(ms_time);
	  }
	else 
	  {  P3_4=0;
	     P3_5=1;
		 mdelay(ms_time);
	   }
    P3_4=P3_5;
 }
/******P1_0/P1_1***************/
void DCmotor3(uchar direction,uint ms_time)
{   
   if(direction==right)
     {
	     P3_0=0;
		 P3_1=1;
		 mdelay(ms_time);
	  }
	else 
	  {  P3_1=0;
	     P3_0=1;
		 mdelay(ms_time);
	   }
    P3_0=P3_1;
 }

/*****1ms延时函数*****/
void mdelay(uint i)
{
   uchar j=0;
   for(;i!=0;i--)
   for(j=124;j!=0;j--);
}