紅外控制舵機(jī)

ID:93295 · 發(fā)表于 2016-3-15 10:27

紅外控制舵機(jī)

/*******************************************************************************
*具體操作：使用配套的遙控，按按鍵，查看顯示屏鍵值。 *
* 鍵值表: 45H 46H 47H *
* 44H 40H 43H *
* 07H 15H 09H *
* 16H 19H 0DH *
* 0CH 18H 5EH *
* 08H 1CH 5AH *
* 42H 52H 4AH *
*******************************************************************************/
#include<reg52.h>
#define uchar unsigned char
sbit IR=P3^3; //紅外中斷引腳
sbit wela=P2^6; //數(shù)碼管為選位
sbit dula=P2^5; //數(shù)碼管段選為
sbit PWM=P1^5; //PWM信號輸出
uchar IRCOM[7]; //鍵值存儲
uchar code tab[]={ //共陽極數(shù)碼管段選數(shù)組
0xc0,0xf9,0xa4,0xb0,0x99,
0x92,0x82,0xf8,0x80,0x90};
uchar dj,count; //dj舵機(jī)角度標(biāo)識引腳
void delay0(uchar x) //延時0.14ms
{
uchar i;
while(x--)
{
for(i=0;i<13;i++);
}
}
void inter() interrupt 2 //外部中斷
{
unsigned char j,k,N=0;
EX1=0;
delay0(15);
if(IR==1)
{
EX1=1;
return;
}
while(!IR)
delay0(1); //跳過9ms低電平引導(dǎo)碼
for(j=0;j<4;j++)
{
for(k=0;k<8;k++)
{
while(IR)
delay0(1); //跳過4.5ms的高電平
while(!IR)
delay0(0); //跳過0.56ms低電平
while(IR) //計算高電平的時間
{
delay0(1);
N++;
if(N>=30) //高電平過長終止外部中斷
{
EX1=1;
return;
}
}
IRCOM[j]=IRCOM[j]>>1;//向右移位補(bǔ)零
if(N>=8)
{
IRCOM[j]=IRCOM[j]|0X80;
} //如果為高電平IRCOM為1
N=0;
}
}
if(IRCOM[2]!=~IRCOM[3]) //原碼與反碼對比驗證，如果不正確則停止
{
EX1=1;
// IROK=0;
return;
}
IRCOM[4]=IRCOM[2]>>4; //高四位變低四位
IRCOM[5]=IRCOM[2]&0X0F; //取鍵值得低四位
IRCOM[7]=IRCOM[4]*16+IRCOM[5];//十六進(jìn)制換算成十進(jìn)制
EX1=1;
}
void delay(unsigned int z)
{
unsigned int x,y;
for(x=z;x>0;x--)
for(y=110;y>0;y--);
}
void display(uchar num) //十進(jìn)制鍵值顯示
{
uchar bai,shi,ge;
bai=num/100;
shi=(num%100)/10;
ge=num%10;
wela=1;
P0=0x01;
wela=0;
P0=0XFF;
dula=1;
P0=tab[bai];
dula=0;
delay(5);
wela=1;
P0=0X02;
wela=0;
P0=0xff;
dula=1;
P0=tab[shi];
dula=0;
delay(5);
wela=1;
P0=0x04;
wela=0;
P0=0xff;
dula=1;
P0=tab[ge];
dula=0;
delay(5);
switch(num)
{
case 7:
dj--;
count=0;
if(dj==0)
dj=1;
break;
case 21:
dj++;
count=0;
if(dj==6)
dj=5;
break;
default:
break;
}
}
/*void IRscan(uchar num)
{
uchar temp;
temp=num;
if(IROK!=0)
{
switch(num)
{
case 7:
dj--;
count=0;
if(dj==0)
dj=1;
break;
case 21:
dj++;
count=0;
if(dj==6)
dj=5;
break;
default:
break;
}
IROK=0;
}
} */
void main()
{
EA=1; //全局中斷開
EX1=1; //外部中斷1開
IT1=1;
TMOD=0X010;
TH1=0XFE;
TL1=0X0C;
ET1=1;
TR1=1;
count=0;
while(1)
{
// IRscan(IRCOM[7]);
display(IRCOM[7]);
delay(2);
}
}
void time1() interrupt 3
{
TH1=0XFE;
TL1=0X0C;
count++;
if(count<dj)
PWM=1;
else
PWM=0;
count=count%40;
}