51单片机控制步进电机三轴联动

#include <reg51.h> #include<math.h> sbit P10 = P1^0; sbit P11=P1^1; sbit P12=P1^2; sbit P13=P1^3; sbit P14=P1^4; sbit P15=P1^5; sbit P16=P1^6; sbit P17=P1^7; sbit P35=P3^5; unsigned char r_ihead=0; unsigned char t_ihead=0; unsigned char r[10]; unsigned char t[5]; unsigned char D[20]; int k; unsigned long a,s,w; int xx,yy,zz,FF; unsigned long xs,ys,zs; int jdx,jdy,jdz; void movxyz(int sudu,int x,int y,int z) //三轴联动函数 { int max=0; xx=abs(jdx-x);yy=abs(jdy-y);zz=abs(jdz-z); if(jdx>x) P13=1; else P13=0; if(jdy>y) P14=1; else P14=0; if(jdz>z) P15=1; else P15=0; jdx=x;jdy=y;jdz=z; if(xx>max) { max=xx; xs=10000/sudu; ys=xx*xs/yy; zs=xx*xs/zz; } if(yy>max) { max=yy; ys=10000/sudu; xs=yy*ys/xx; zs=yy*ys/zz; } if(zz>max) { max=zz; zs=50000/sudu; // zs=10000/sudu; ys=zz*zs/yy; xs=zz*zs/xx; } a=0;s=0;w=0; xx=2*xx;yy=2*yy;zz=2*zz; ET0=1; while(xx>0||yy>0||zz>0); ET0=0;P13=1;P14=1;P15=1; } void main() //主程序 { ES=0; EA=1; TMOD=0x22; SCON=0x40; TH1=(65536-46080)/256; TL1=(65536-46080)%256; // TH1=0x0F3; // TL1=0x0f3; PCON=0x80; RI=0; TR1=1; TH0=0x0FF; TL0=0x0FF; TR0=1; REN=1;jdx=jdy=jdz=0; ES=1; while(1) movxyz(5000,200,400,-600); //调用联动函数 movxyz(5000,200,400,-600); } void timer0 () interrupt 1 using 2 //三轴联动依靠定时器中断完成，不影响CPU处理其它事物 { TH1=(65536-46080)/256; TL1=(65536-46080)%256; a++; s++; w++; if(xx>0&&a>=xs) { a=0; xx--; P10=!P10; } if(yy>0&&s>=ys) { s=0; yy--; P11=!P11; } if(zz>0&&w>=zs) { w=0; zz--; P12=!P12; } }