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#include<reg52.h>
sbit PWM0 = P1^0;
sbit PWM1 = P1^1;
sbit PWM2 = P1^2;
sbit PWM3 = P1^3;
sbit PWM4 = P1^4;
sbit PWM5 = P1^5;
sbit PWM6 = P1^6;
sbit PWM7 = P1^7;
sbit ADD = P3^6;
sbit SUB = P3^7;
#define uchar unsigned char
#define uint unsigned int
uint t_up0 = 1500; //舵機PWM高電平時間 1000~2000表示1ms到2ms
uint t_up1 = 1500;
uint t_up2 = 1500;
uint t_up3 = 1500;
uint t_up4 = 1500;
uint t_up5 = 1500;
uint t_up6 = 1500;
uint t_up7 = 1500;
uint t0_h;
uint t0_l;
void delayms(uint ms)
{
unsigned char a,b,c;
while(ms--)
{
for(c=1;c>0;c--)
for(b=142;b>0;b--)
for(a=2;a>0;a--);
}
}
void timer_init()
{
EA = 1;
ET0 = 1;
PT0 = 1;
TMOD = 0x11;
TH0 = (65536 - t_up0)/256;
TL0 = (65536 - t_up0)%256;
}
uchar t0_flag = 0;
uint num_max = 65535; //直接用65535 - t_up 不用變量 - t_up 時，誤差較大，原因暫時不明【注：65536不能存到uint類型變量中】
uint t_change = 63036;//換路周期2.5ms 8路
uchar error0 = 45;
uchar error1 = 45;
uchar error2 = 52;
uchar error3 = 52;
uchar error4 = 57;
uchar error5 = 57;
uchar error6 = 63;
uchar error7 = 63;
uchar error8 = 70;
uchar error9 = 70;
uchar error10 = 76;
uchar error11 = 76;
uchar error12 = 82;
uchar error13 = 82;
uchar error14 = 88;
uchar error15 = 88;
void timer0() interrupt 1
{
if(t0_flag == 0)
{
PWM0 = 1;
TH0 = (num_max - t_up0 + error0)/256; //+？是為了抵消執行語句花的時間
TL0 = (num_max - t_up0 + error0)%256;
t0_flag = 1;
}
else if(t0_flag == 1)
{
PWM0 = 0;
TH0 = (t_change + t_up0 +error1)/256;
TL0 = (t_change + t_up0 +error1)%256;
t0_flag = 2;
}
else if(t0_flag == 2)
{
PWM1 = 1;
TH0 = (num_max - t_up1 + error2)/256; //+？是為了抵消執行語句花的時間
TL0 = (num_max - t_up1 + error2)%256;
t0_flag = 3;
}
else if(t0_flag == 3)
{
PWM1 = 0;
TH0 = (t_change + t_up1 +error3)/256;
TL0 = (t_change + t_up1 +error3)%256;
t0_flag = 4;
}
else if(t0_flag == 4)
{
PWM2 = 1;
TH0 = (num_max - t_up2 + error4)/256; //+？是為了抵消執行語句花的時間
TL0 = (num_max - t_up2 + error4)%256;
t0_flag = 5;
}
else if(t0_flag == 5)
{
PWM2 = 0;
TH0 = (t_change + t_up2 +error5)/256;
TL0 = (t_change + t_up2 +error5)%256;
t0_flag = 6;
}
else if(t0_flag == 6)
{
PWM3 = 1;
TH0 = (num_max - t_up3 + error6)/256; //+？是為了抵消執行語句花的時間
TL0 = (num_max - t_up3 + error6)%256;
t0_flag = 7;
}
else if(t0_flag == 7)
{
PWM3 = 0;
TH0 = (t_change + t_up3 +error7)/256;
TL0 = (t_change + t_up3 +error7)%256;
t0_flag = 8;
}
else if(t0_flag == 8)
{
PWM4 = 1;
TH0 = (num_max - t_up4 + error8)/256; //+？是為了抵消執行語句花的時間
TL0 = (num_max - t_up4 + error8)%256;
t0_flag = 9;
}
else if(t0_flag == 9)
{
PWM4 = 0;
TH0 = (t_change + t_up4 +error9)/256;
TL0 = (t_change + t_up4 +error9)%256;
t0_flag = 10;
}
else if(t0_flag == 10)
{
PWM5 = 1;
TH0 = (num_max - t_up5 + error10)/256; //+？是為了抵消執行語句花的時間
TL0 = (num_max - t_up5 + error10)%256;
t0_flag = 11;
}
else if(t0_flag == 11)
{
PWM5 = 0;
TH0 = (t_change + t_up5 + error11)/256;
TL0 = (t_change + t_up5 + error11)%256;
t0_flag = 12;
}
else if(t0_flag == 12)
{
PWM6 = 1;
TH0 = (num_max - t_up6 + error12)/256; //+？是為了抵消執行語句花的時間
TL0 = (num_max - t_up6 + error12)%256;
t0_flag = 13;
}
else if(t0_flag == 13)
{
PWM6 = 0;
TH0 = (t_change + t_up6 + error13)/256;
TL0 = (t_change + t_up6 + error13)%256;
t0_flag = 14;
}
else if(t0_flag == 14)
{
PWM7 = 1;
TH0 = (num_max - t_up7 + error14)/256; //+？是為了抵消執行語句花的時間
TL0 = (num_max - t_up7 + error14)%256;
t0_flag = 15;
}
else if(t0_flag == 15)
{
PWM7 = 0;
TH0 = (t_change + t_up7 + error15)/256;
TL0 = (t_change + t_up7 + error15)%256;
t0_flag = 0;
}
}
void main()
{
uint t_while;
timer_init();
TR0 = 1;
while(1)
{
if(ADD == 0)
{
delayms(2);
if(ADD == 0)
{
if(t_up0 <= 1950)
{
t_up0 = t_up0 + 50;
t_up1 = t_up1 + 50;
t_up2 = t_up2 + 50;
t_up3 = t_up3 + 50;
t_up4 = t_up4 + 50;
t_up5 = t_up5 + 50;
t_up6 = t_up6 + 50;
t_up7 = t_up7 + 50;
}
t_while = 50000;
while(t_while--)
{
if(ADD == 1)
break;
}
}
}
if(SUB == 0)
{
delayms(2);
if(SUB == 0)
{
if(t_up0 >= 1050)
{
t_up0 = t_up0 - 50;
t_up1 = t_up1 - 50;
t_up2 = t_up2 - 50;
t_up3 = t_up3 - 50;
t_up4 = t_up4 - 50;
t_up5 = t_up5 - 50;
t_up6 = t_up6 - 50;
t_up7 = t_up7 - 50;
}
t_while = 50000;
while(t_while--)
{
if(SUB == 1)
break;
}
}
}
}
}

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