PWM与电机的控制及电机转速的测量

#include <reg51.h> #include <stdio.h> #include <intrins.h> #define uchar unsigned char #define uint unsigned int #define ulong unsigned long #define Disp0_PORT P0 #define Disp1_PORT P2 sbit UP=P3^0; //电机的加速控制位 sbit DOWN=P3^1; //电机的减速控制位 sbit Key_turn=P3^2; //电机的正反转控制位 sbit PWM1=P1^0; //输出通道1 sbit PWM2=P1^1; //输出通道2 bit Flag=1,temp=0; //电机正传标志 uchar qian,bai,shi,ge; uint count=0,ch=0; uint counter=0; uint frequent=0; uchar pwm_1=0; uchar code duanma[]={0x3f,0x06,0x5b,0x4f, 0x66,0x6d,0x7d,0x07,0x7f, 0x6f }; uchar weima[]={0x08,0x04,0x02,0x01}; void delay(uint i,j) //延时子程序 { int m,n; for(m=i;m>=0;m--) { for(n=j;n>=0;n--){} } } void init() { counter=0; TMOD=0X11; TH0=(65536-200)/256; //控制频率 TL0=(65536-200)%256; TH1=(65536-5000)/256; //定时一秒 TL1=(65536-5000)%256; ET0=1; ET1=1; EX1=1; IT1=1; EA=1; } void timer_0() interrupt 1 using 0 { ++count; if(count>=40)count=0; //控制PWM输出频率 if(Flag==1) { PWM2=0; if(count<=pwm_1) PWM1=0; else PWM1=1; } else { PWM1=0; if(count<=pwm_1) PWM2=0; else PWM2=1; } TH0=(65536-200)/256; TL0=(65536-200)%256; } void isr_1() interrupt 2 using 1 { ch++; } void timer_1()interrupt 3 using 2 { TH1=(65536-5000)/256; //定时一秒 TL1=(65536-5000)%256; if(counter!=200) { counter++; } else { counter=0; temp=1; } } void keyboard() //电机转速的加快与减速 { if(UP==0) { delay(200,25); if(UP==0) { pwm_1=pwm_1+1; } } if(DOWN==0) { delay(200,25); if(DOWN==0) { pwm_1=pwm_1-1; } } if(pwm_1 >= 40) //调整的上下线 { pwm_1=40; } if(pwm_1 <= 0) { pwm_1 = 0; } } void Motor_turn(void) //电机正反向控制 { if(Key_turn == 0) { delay(10,200); if(Key_turn == 0) { Flag = ~Flag; //转向标志位取反 } while(Key_turn == 0); } } void SHOW(unsigned char i,unsigned int j) { unsigned char m; unsigned int n=1000; for(m=0;m<i;m++) { P0=duanma[j/n]; P2=weima[3-m]; j=j%n; n=n/10; delay(1,10); } } void main() { init(); TR0=1; TR1=1; while(1) { if(temp==1) { EX1=0; // 关外部中断一 frequent=ch/6; EX1=1; ch=0; temp=0; } SHOW( 4,frequent); Motor_turn(); //调用翻转子程序 keyboard(); //加速,减速 } }