📄 zoubeifuwei.c
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}
for(i=0;i<30;i++) //减速阶段
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
if(FX)
Ystep--;
else
Ystep++;
if(rate<=180)
rate+=5;
}
}
delay(100,100);
ClrCurrent();
M_LOWMOVE;
return 1;
}
//预温电机动作3，不跨区的程序，需要先到零点光耦然后返回
uchar YW3move(uint mstep)
{
uint i;
uint rate;
uint high;
uint step=0;
rate=180;
high=100;
if(START_GO&&(mstep>MAXstepTG)) //当前在通光区
{
mstep=MAXstepTG;
Warn(0x11);
}
if(!START_GO&&(mstep>MAXstepDG)) //当前在挡光区
{
mstep=MAXstepDG;
Warn(0x11);
}
SetCurrent(10);
M_ENABLE;
M_HIGHMOVE;
if(START_GO) //在通光区，需要向通光区走
{
M_CLOCKWISE;
while(START_GO) //先到零点光耦
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
if(rate>=high)
rate-=5;
step++;
Ystep--;
if(Ystep<1970)
{
M_LOWMOVE;
M_UNENABLE;
ClrCurrent();
Warn(2); //报警程序
return 0;
}
if(step>MAXstepTG)
{
M_LOWMOVE;
M_UNENABLE;
ClrCurrent();
Warn(3); //报警程序
return 0;
}
}
Ystep = 2000;
for(i=0;i<=30;i++) //从零点继续向挡光区走30步
{
PORTB &= ~0x02;
delay1(rate);
PORTB |= 0x02;
delay1(rate);
Ystep--;
}
delay(300,300);
M_UNCLOCKWISE;
rate=180;
step = 0;
while(!START_GO) //此时从挡光区再到零点光耦
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
if(rate>=high)
rate-=5;
step++;
Ystep++;
if(Ystep>2030)
{
M_LOWMOVE;
M_UNENABLE;
ClrCurrent();
Warn(2); //报警程序
return 0;
}
if(step>MAXstepDG)
{
M_LOWMOVE;
M_UNENABLE;
ClrCurrent();
Warn(3); //报警程序
return 0;
}
}
Ystep=2000;
if(mstep<=30) //再从零点走向通光区，需要分档
{
for(i=0;i<mstep;i++)
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
Ystep++;
if(rate>=100)
rate-=5;
}
}
else
{
for(i=0;i<mstep-30;i++) //加速阶段
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
Ystep++;
if(rate>=100)
rate-=5;
}
for(i=0;i<30;i++) //减速阶段
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
Ystep++;
if(rate<=180)
rate+=5;
}
}
}
else //在挡光区，需要向挡光区走
{
M_UNCLOCKWISE;
while(!START_GO) //先到零点光耦
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
if(rate>=high)
rate-=5;
step++;
Ystep++;
if(Ystep>2030)
{
M_LOWMOVE;
M_UNENABLE;
ClrCurrent();
Warn(2); //报警程序
return 0;
}
if(step>MAXstepDG)
{
M_LOWMOVE;
M_UNENABLE;
ClrCurrent();
Warn(3); //报警程序
return 0;;
}
}
Ystep = 2000;
for(i=0;i<=30;i++) //从零点继续向通光区走30步
{
PORTB &= ~0x02;
delay1(rate);
PORTB |= 0x02;
delay1(rate);
Ystep++;
}
delay(300,300);
M_CLOCKWISE;
rate=180;
step = 0;
while(START_GO) //此时从通光区再到零点光耦
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
if(rate>=high)
rate-=5;
step++;
Ystep--;
if(Ystep<1970)
{
M_LOWMOVE;
M_UNENABLE;
ClrCurrent();
Warn(2); //报警程序
return 0;
}
if(step>MAXstepTG)
{
M_LOWMOVE;
M_UNENABLE;
ClrCurrent();
Warn(3); //报警程序
return 0;
}
}
Ystep=2000;
if(mstep<=30) //再向挡光区走指定步数，需要分档
{
for(i=0;i<mstep;i++)
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
Ystep--;
if(rate>=100)
rate-=5;
}
}
else
{
for(i=0;i<mstep-30;i++) //加速阶段
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
Ystep--;
if(rate>=100)
rate-=5;
}
for(i=0;i<30;i++) //减速阶段
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
Ystep--;
if(rate<=180)
rate+=5;
}
}
}
delay(100,100);
ClrCurrent();
M_LOWMOVE;
return 1;
}
void main()
{
uint i;
uint ZBstep;
uchar num=0;
uchar Addr;
init_devices();
Addr=(PINC & 0x07) + 1;
if(Addr==0x01)
{
ClrCurrent();
}
if(Addr==0x02)
{
ClrCurrent();
}
if(Addr==0x03)
{
ClrCurrent();
}
if(Addr==0x04)
{
ClrCurrent();
}
if(Addr==0x05)
{
ClrCurrent();
}
M_LOWMOVE;
M_ENABLE;
LED_ON;
//Addr=(PINC & 0x07)+1;
delay(70,1000);
TWCR = (1<<TWEA)|(1<<TWEN);
while(1)
{
if(twi_Sreceive())
{
BUSY_ON;
switch(I2cRbuf[0])
{
case 1: JBmove(1000); //进杯动作
break;
case 2: if(I2cRbuf[1]==0x01) //勾杯复位
Reset1(0);
else if(I2cRbuf[1]==0x00) //勾杯动作
{GTmove(0);}
break;
case 3: if(I2cRbuf[1]==0x01) //推杯1复位
{Reset1(1);}
else if(I2cRbuf[1]==0x00) //推杯1动作
{GTmove(1);}
break;
case 4: if(I2cRbuf[1]==0x01) //推杯2复位
{Reset1(1);}
else if(I2cRbuf[1]==0x00) //推杯2动作
{GTmove(1);}
break;
case 5: Reset2(); //预温电机复位
break;
case 6: if(I2cRbuf[1]==0x01) //预温区走到指定绝对步数
{
ZBstep=I2cRbuf[2];
ZBstep<<=8;
ZBstep |=I2cRbuf[3];
YW3move(ZBstep); //不跨区走
}
else if(I2cRbuf[1]==0x00)
{
ZBstep=I2cRbuf[2];
ZBstep<<=8;
ZBstep |=I2cRbuf[3];
YW1move(ZBstep); //跨区走
}
else
delay(500, 500);
break;
case 8: if(I2cRbuf[2]==0x01) //预温区沿指定方向走指定步数
{
ZBstep=I2cRbuf[3];
ZBstep<<=8;
ZBstep |=I2cRbuf[4];
YW2move(I2cRbuf[1],ZBstep); //不跨区走
}
else if(I2cRbuf[2]==0x00)
{
ZBstep=I2cRbuf[3];
ZBstep<<=8;
ZBstep |=I2cRbuf[4];
YW1move(ZBstep); //跨区走
}
else
delay(500, 500);
break;
case 9: i=0;
while(!(TWCR & (1<<TWINT))&& i<=60000)i++;
if(i>60000)
{
//TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);////////////////
//twi_init();
TWCR = (1<<TWEA)|(1<<TWEN);
break;
}
i=0;
if((TWSR & 0xF8) == 0xA8)
{
I2cSbuf[0]=9;
I2cSbuf[1]=Addr; //查询报警
I2cSbuf[2]=Eflag;
TWDR = I2cRbuf[0]; //13
TWCR |= (1<<TWINT) | (1<<TWEA);
}
for(num=1; num<3; num++)
{
while(!(TWCR & (1<<TWINT))&& i<=10000)i++;
if(i>10000)
{
//TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);////////////////
//twi_init();
TWCR = (1<<TWEA)|(1<<TWEN);
break;
}
if((TWSR & 0xF8) == 0xB8)
{
TWDR = I2cSbuf[num];
TWCR |= (1<<TWINT) | (1<<TWEA);
}
}
if(i>10000)
{
//TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);////////////////
//twi_init();
TWCR = (1<<TWEA)|(1<<TWEN);
break;
}
i=0;
while(!(TWCR & (1<<TWINT))&& i<=10000)i++;
if(i>10000)
{
//TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);////////////////
//twi_init();
TWCR = (1<<TWEA)|(1<<TWEN);
break;
}
if((TWSR & 0xF8) == 0xC0)
TWCR |= (1<<TWINT) | (1<<TWEA);
Eflag=0;
break;
case 127: M_ENABLE; //上电
break;
case 128: M_UNENABLE; //掉电
break;
default:;
}
if(Eflag==0)
NORMAL;
else
UNNORMAL;
BUSY_OFF;
}
}
/*i=(PINC &0x07);
if(i==0x00)
{
while(1)
{
JBmove(1000);
delay(100,100);
}
}
if(i==0x01)
{
Reset1(0);
delay(100,1000);
while(1)
GTmove(0);
}
if(i==0x02)
{
Reset1(1);
delay(100,1000);
while(1)
GTmove(1);
}
if(i==0x03)
{
Reset1(1);
delay(100,1000);
while(1)
GTmove(1);
}
if(i==0x04)
{
YW1move(0x01,0x00,50);
}*/
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