step heixian_hao1.c

来自「基于51单片机或者ARM2131的电子小车的设计」· C语言 代码 · 共 55 行

#include "reg51.h"
#define uchar unsigned char 
#define uint unsigned  int

sbit STK_CP1=P1^3;
sbit STK_DIR1=P1^2;

sbit STK_CP2=P1^1;
sbit STK_DIR2=P1^0;

sbit speed=P1^4;

uchar  th0,tl0,th1,tl1;
	
void time0() interrupt 1	//电机1
{	TR0=0; TH0=th0; TL0=tl0;  TR0=1;
	STK_CP1=~STK_CP1;
}

void time1() interrupt 3	//电机2
{	TR1=0; TH1=th1; TL1=tl1; TR1=1;
	STK_CP2=~STK_CP2;
}

void int0() interrupt 0	//右转
{	th0=0xec;	tl0=0x78;		//5ms
	th1=0xf0;	tl1=0x60;		//4ms
}


void int1() interrupt 2			//左转
{	th0=0xf0;	tl0=0x60;		//4ms
	th1=0xec;	tl1=0x78;		//5ms
}

main()
{	EA=0;
	TMOD=0x11;
	th0=0xec;	tl0=0x78;
	TH0=th0; 	TL0=tl0; 	
	TR0=1; 		ET0=1;

	th1=0xec;	tl1=0x78;
	TH1=th1; 	TL1=tl1;
	TR1=1; 		ET1=1;
	
	IT0=1;		EX0=1;
	IT1=1;		EX1=1;
	EA=1;
	STK_DIR1=0;
	STK_DIR2=1;
	while(1);		
}