单片机加pid算法去控制步进电机具体措施或方法.docxVIP

单片机加pid算法去控制步进电机的具体措施或方法 2009-7-25 12:13 最佳答案 //P1.1(T0):Count They Distance//P0.4:Tx//P0.5:Rx#include C8051F310.h //SFR declarations#include stdio.h //Standard I/O definition file#include math.h //Math library file#include Intrins.h#include absacc.h unsigned int j,i;char a=0;unsigned int t=0;//sbit led=P0^2; //P0.0(PWM0):给定左轮速度.sbit vls=P0^4; //P0.4(GPIO):给定左轮方向.sbit vlf=P0^6; //P0.6(T0) :反馈左轮速度.sbit dlf=P1^0; //P1.0(GPIO):反馈左轮方向. //P0.2(PWM0):给定右轮速度.sbit vrs=P0^5; //P0.5(GPIO):给定右轮方向.sbit vrf=P0^7; //P0.7(T0) :反馈右轮速度.sbit drf=P1^1; //P1.1(GPIO):反馈右轮方向.int ol; //左轮给定值int len;int len_1,le