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/* * pinghengbai.c * * Created: 2015/5/12 15:32:50 * Author: LOVE */ /************************************************************************/ /* 常用头文件及宏定义 */ /************************************************************************/ #include avr/io.h #include util/delay.h //延时文件 #include avr/sleep.h //睡眠文件 #include avr/interrupt.h //中断文件 #include avr/eeprom.h //eeprom #include math.h #define BIT(x) (1x) #define uchar unsigned char #define uint unsigned int int jiaodu_ban_0=0,jiaodu_ban_1=90,jiaodu_bai=90; uchar mode_0=1,bai_min_0=180,n=0,bai_min=90,bai_max=90; uchar baitai=1,bai_max_0=0,zhunbei_0=0,kaishi=0,mode_1=1; float fai_0=0,fai_1=90; /************************************************************************/ /* TCC0 PWM */ /************************************************************************/ void chushihua_pwm() { TCCR0=BIT(WGM00)|BIT(WGM01)|BIT(COM01)|BIT(CS00); OCR0=255; } /************************************************************************/ /* 步进电机驱动 */ /************************************************************************/ // PB 0 PB 1 PB 2 PB 4 #define DDR_DIANJI DDRB #define PORT_DIANJI PORTB #define SHIJIAN 2.5 #define SHI 1.5 void xuanzhuan() { if (mode_02) { OCR0=255; } else { OCR0=160; } int jiaodu_0=0,i,j; static uchar n=1; switch(mode_0) { case 1:jiaodu_0=jiaodu_bai+jiaodu_ban_0-jiaodu_ban_1;break; case 2: { jiaodu_0=jiaodu_ban_0; }break; case 3: { if (mode_1) { fai_0=(float)(jiaodu_bai-90+atan((1-cos(jiaodu_bai-90))/(1.5-sin(jiaodu_bai-90))))+jiaodu_bai-113.5; } else { jiaodu_0=jiaodu_bai+jiaodu_ban_0-jiaodu_ban_1;break; } }break; default:; } if (mode_02) { if (mode_1) { n=1; if (fai_00) { j=fai_0/0.45; for (i=0;ij;i++) { if (n==8) { n=1