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Motor 的代码
motor_main.c
#define uchar unsigned char
#define uint unsigned int
#define low_speed 10
#define high_speed 100
#include
#include
#include
#include
motor.m51
BL51 BANKED LINKER/LOCATER V6.00 04/10/2007 13:45:25 PAGE 1
BL51 BANKED LINKER/LOCATER V6.00, INVOKED BY:
C:\KEIL\C51\BIN\BL51.EXE Motor_
setp_motor.vhd
library IEEE;
use IEEE.std_logic_1164.all;
use IEEE.std_logic_arith.all;
use IEEE.std_logic_unsigned.all;
entity step_motor is
port (reset:in STD_LOGIC; --system reset signal
dir: in STD
motor_opt.bak
### uVision2 Project, (C) Keil Software
### Do not modify !
cExt (*.c)
aExt (*.s*; *.src; *.a*)
oExt (*.obj)
lExt (*.lib)
tExt (*.txt; *.h; *.inc)
pExt (*.plm)
CppX (*.cpp)
DaveTm {
motor.uv2
### uVision2 Project, (C) Keil Software
### Do not modify !
Target (Target 1), 0x0000 // Tools: 'MCS-51'
Group (Source Group 1)
File 1,1, 0x0
Options 1,0,0 // Targ
motor.m51
BL51 BANKED LINKER/LOCATER V5.03 05/09/2007 09:05:50 PAGE 1
BL51 BANKED LINKER/LOCATER V5.03, INVOKED BY:
E:\PROGRAM FILES\C51\BIN\BL51.E
gpio_motor.c
/*********************************
版 权:
文 件 名:gpio_motor.c
作 者:狄兰兰
创建日期:20090207
版 本:02.00.00
功能描述:云台电机驱动程序 完成云台上、下、左、右
左上、右上、左下、右下八个方向的转动
motor_6_1
J=0.01;
b=0.1;
K=0.01;
R=1;
L=0.5;
A=[-b/J K/J
-K/L -R/L];
B=[0
1/L];
C=[1 0];
D=0;
co=ctrb(A,B);%Judge the controlbility of the system
rank(co)
p1 = -5 + i;
p2 = -5 - i;
K