《舵机控制程序》word版

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1、舵机控制程序8路舵机控制器芯片：AT89S52晶振：12MHz===================================================================================*/＃include#defineuint8 unsignedchar#defineuint16unsignedintsbitkey1=P1^4;sbitkey2=P1^5;//PWM的输出端口sbitPWM_OUT0=P0^0;sbitPWM_OUT1=P0^1;sbit

2、PWM_OUT2=P0^2;sbitPWM_OUT3=P0^3;sbitPWM_OUT4=P0^4;sbitPWM_OUT5=P0^5;sbitPWM_OUT6=P0^6;sbitPWM_OUT7=P0^7;//PWM的数据值uint16PWM_Value[8]={1500,1000,1500,1000,1750,2000,2500,2000};uint8order1; //定时器扫描序列/*==============================================================

3、=====================   定时器T0的中断服务程序   一个循环20MS =8*2.5ms=====================================================================================*/voidtimer0(void)interrupt1using1{ switch(order1) { case1: PWM_OUT0=1;         TH0=-PWM_Value[0]/256;         TL0=-PWM

4、_Value[0]%256;         break; case2: PWM_OUT0=0;          TH0=-(2700-PWM_Value[0])/256;         TL0=-(2700-PWM_Value[0])%256;         break; case3: PWM_OUT1=1;         TH0=-PWM_Value[1]/256;         TL0=-PWM_Value[1]%256;         break; case4: PWM_OUT1=0;     

5、    TH0=-(2700-PWM_Value[1])/256;         TL0=-(2700-PWM_Value[1])%256;         break; case5: PWM_OUT2=1;         TH0=-PWM_Value[2]/256;         TL0=-PWM_Value[2]%256;         break; case6: PWM_OUT2=0;         TH0=-(2700-PWM_Value[2])/256;         TL0=-(2700-P

6、WM_Value[2])%256;         break; case7: PWM_OUT3=1;         TH0=-PWM_Value[3]/256;         TL0=-PWM_Value[3]%256;         break; case8: PWM_OUT3=0;         TH0=-(2700-PWM_Value[3])/256;         TL0=-(2700-PWM_Value[3])%256;         break; case9: PWM_OUT4=1;   

7、      TH0=-PWM_Value[4]/256;         TL0=-PWM_Value[4]%256;           break; case10:PWM_OUT4=0;         TH0=-(2700-PWM_Value[4])/256;         TL0=-(2700-PWM_Value[4])%256;         break; case11:PWM_OUT5=1;         TH0=-PWM_Value[5]/256;         TL0=-PWM_Value[

8、5]%256;         break; case12:PWM_OUT5=0;         TH0=-(2700-PWM_Value[5])/256;         TL0=-(2700-PWM_Value[5])%256;         break; case13:PWM_OUT6=1;         TH0=-PWM_Value[6]/25