32路舵机控制机器人C51单片机C语言知识程序代码.doc

/32路舵机控制机器人C51单片机C语言程序代码说明： 32路舵机控制板，最多可以控制32个舵机，可以对仿生，人形等机器人进行控制，轻松上手。/* 本程序在STC89C51RC单片机中进行过测试，完全正常（晶振11.0592M）*用户可以根据晶振不同自行修改，建议用户先连接PC，通过PC的串口调试* 助手来验证程序是否有效* P30: RXD* P31: TXD*/#include <reg52.h>#ifndef _DG_TYPE_#define _DG_TYPE_ typedef unsigned char uchar; typedef unsigned int uint;#endif#define CMD_LEN 75 / 命令长度#define CMD_TAG 1 / 提示符长度void UartInit();void UartSendChar(unsigned char ch);void UartSendStr(uchar *pStr);void UartCharPro(uchar ch);void UartCmdPro();uchar g_ucCmdCMD_LEN + 1 = 0;uchar g_ucLen = 0; / 命令长度uchar g_ucCur = 1; / 光标位置void main() UartInit(); UartSendStr("#1P1500T100rn"); / S1号舵机在时间100ms内移动到PWM1500的位置 / UartSendStr("#1GC2rn"); / 执行第一个动作组，循环执行2次 while(1);/* Name: UartInit* Func:* 串行通信初始化* Para:* uchar ch: 发送的字符* Return: None*/void UartInit() SCON = 0x50; / SCON: serail mode 1 8-bit UART TMOD |= 0x20; / TMOD: timer 1 mode 2 8-bit reload PCON |= 0x80; / SMOD="1" TH1 = 0xFA; / Baud:9600 fosc="11".0592MHz TL1 = 0xFA; IE |= 0x90; / 使能串行中断 TR1 = 1; / 启动TIMER1 EA = 1;/* Name: UartSendChar* Func:* 向串口发送一个字符* Para:* uchar ch: 发送的字符* Return: None*/void UartSendChar(unsigned char ch) SBUF = ch; while(TI=0); TI=0;/* Name: UartSendStr* Func:* 向串口发送以0结尾的字符串* Para:* uchar *pStr: 发送的字符指针* Return: None*/void UartSendStr(uchar *pStr) while(*pStr != 0) SBUF = *pStr+; while(TI=0); TI=0; void UartSrv() interrupt 4unsigned char ch;ch = SBUF;if(RI) RI = 0; /UartSendChar(ch); /P0 = ch; UartCharPro(ch); /* Name: UartCharPro* Func:* 字符处理过程函数。根据输入的普通字符或控制字符判断回显。* Para:* uchar ch: 判断的字符* Return: None*/void UartCharPro(uchar ch) P0 = ch; switch(ch) case b: / 退格键 if(g_ucCur > CMD_TAG) UartSendChar(b); UartSendChar( ); UartSendChar(b); if(g_ucLen) g_ucLen-; g_ucCur-; break; case r: / 回车键 UartSendChar(r); UartSendChar(n); g_ucCmdg_ucLen = 0; UartSendStr(g_ucCmd); UartSendChar(r); UartSendChar(n); UartSendChar(>); g_ucLen = 0; g_ucCur = 1; break; default: / 其它字符 UartSendChar(ch); g_ucCur+; if(g_ucLen < CMD_LEN) g_ucCmdg_ucLen+ = ch; else g_ucCmdg_ucLen = 0;