51控制舵机(国外英语资料).doc

51控制舵机(国外英语资料) I am also doing steering control, which is to control a steering gear procedures, you can refer to! Through the button to change the microcontroller output pulse width of 1ms~2ms, so that the steering gear at -90 degrees ~+90 degrees between rotation ORG 0000H AJMP MAIN; Master Program ORG 000BH AJMP INTT0; turn off interrupt subroutine MAIN:, MOV, SP, #80H SETB EA; open total interrupt SETB ET0; allows T0 interrupts CLR P3.7; the beginning of pulse waveform MOV, TMOD, #01H; timed, 0 MOV, 30H, #2EH; servo 0 bit, 1.5ms timing initial value, TL0 value stored 30H MOV, 31H, #0FAH; TH0, 31H MOV, 32H, #0B2H; 18.5ms timing initialization, TL0 value stored 32H MOV, 33H, #0B7H; TH0 save 33H CLR F0; clear flag bit SETB TR0; start T0 K1:, JB, P1.4, K2; right turn key is not pressed, turn K2, turn left turn key ACALL D10MS; press, delay, anti shake JNB, P1.4, $; pending release ACALL D10MS MOV, A, 30H CJNE, A, #3AH, K10; determine whether to 90 degrees AJMP K2; to 90 degrees, without changing the timing time constant, turn K2 K10: CLR C; less than 90 degrees, clear carry bits, the next instruction is carry less, must first clear carry SUBB, A, #20; reduce the time constant, that is, to increase the high level pulse width, each time the 0.02ms increases, the steering gear rotates 3.6 degrees JNC K11 DEC 31H; borrow K11:, MOV, 30H, A CLR C MOV, A, 32H ADD, A, #20; increase the time constant, that is, to reduce the low level pulse width JNC K12 INC 33H K12:, MOV, 32H, A K2:, JB, P1.5, K3 ACALL D10MS JNB P1.5, $ ACALL D10MS MOV, A, 30H CJNE, A, #22H, K20 AJMP K3 K20: CLR C ADD, A, #20 JNC K21 INC 31H K21:, MOV, 30H, A CLR C MOV, A, 32H SUBB, A, #20 JNC K22 DEC 33H K22:, MOV, 32H, A CLR C K3:, JB, P1.6, K1; determine whether the 0 key of the motor is pressed ACALL D10MS JNB P1.6, $ ACALL D10MS MOV, 30H, #2EH; servo 0 bit, pulse width 1.5ms MOV, 31H, #0FAH MOV, 32H, #0B2H MOV, 33H, #0B7H AJMP K1 INTT0: CPL F0; interrupt service routine CPL P3.7; outputs high and low le