51控制舵机(国外英文资料).docVIP

51控制舵机(国外英文资料) I am also in the steering machine control now, this is the program that controls a steering machine, can be referenced! Changing MCU by keys, the output pulse width 1 ~ 2 ms, ms in steering gear - 90 ° ~ + 90 ° rotation ORG 0000 h AJMP MAIN; Turn the main program ORG 000 bh AJMP INTT0; Turn the timer interrupt subroutine MAIN: MOV SP, # 80 h SETB EA. Open always interrupt SETB ET0; Allow the T0 interrupt The CLR P3.7; The initial state of the pulse waveform MOV TMOD # 01H; Timing and mode 0 MOV h, 30 # 2 eh; The steering gear is 0, 1.5 ms time initializer, and TL0 value is 30H 31 h MOV, # 0 fah; TH0 values to save 31 h MOV 32 h # 0 b2h; 18.5 ms time initial value, TL0 value is 32H MOV 33 h # 0 b7h; TH0 33 h The CLR F0; Clear sign bit SETB TR0; Start the T0 K1: JB P1.4, K2; Turn the right button, turn K2, and turn the left key ACALL D10MS; Press, delay, shake JNB P1.4, $; Waiting for the release of ACALL D10MS MOV. A, 30 h CJNE A. Determine whether to 90 ° AJMP K2. To 90 °, dont change timing time constant, K2 K10: CLR C; Not to 90 °, clear the carry bit, under the instruction to carry, must carry SUBB A, # 20; Reduce the time constant, that is, more high level pulse width, increasing every 0.02 ms, steering gear rotational 3.6 ° JNC K11 DEC 31 h; A borrow K11: MOV 30 h, A The CLR C MOV. A, 32 h ADD A, # 20; Increasing the time constant means reducing the low level pulse width JNC K12 INC 33 h K12: MOV 32 h, A K2: JB P1.5, K3 ACALL D10MS JNB P1.5, $ ACALL D10MS MOV. A, 30 h CJNE A, # 22 h, K20 AJMP K3 K20: CLR C ADD A, # 20 JNC K21 31 h INC. K21: MOV 30 h, A The CLR C MOV. A, 32 h SUBB A, # 20 JNC K22 DEC 33 h K22: MOV 32 h, A The CLR C K3: JB P1.6, K1; Determine whether the motor return 0 is pressed ACALL D10MS JNB P1.6, $ ACALL D10MS MOV h, 30 # 2 eh; The steering gear is 0, pulse width 1.5 ms 31 h MOV, # 0 fah MOV 32 h # 0 b2h MOV 33 h # 0 b7h AJMP K1 INTT0: CPL F0; Interrupt service routine CPL P3.7; Output high, low level pulse JB F0, HIGH1 LOW0: