89C51单片机驱动8路舵机参考程序

2025-09-28 来源：bilibili

#include<reg51.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 = P2^1;

sbit SUB = P2^2;

#define uchar unsigned char

#define uint unsigned int

uint t_up0 = 1500; //舵机PWM高电平时间 1000~2000表示1ms到2ms

uint t_up1 = 1500; //1.5ms

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 不用变量 - t_up 时，误差较大，原因暂时不明【注：65536不能存到uint类型变量中】

uint t_change = 63036;//换路周期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; //+？是为了抵消执行语句花的时间

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; //+？是为了抵消执行语句花的时间

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; //+？是为了抵消执行语句花的时间

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; //+？是为了抵消执行语句花的时间

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; //+？是为了抵消执行语句花的时间

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; //+？是为了抵消执行语句花的时间

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; //+？是为了抵消执行语句花的时间

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; //+？是为了抵消执行语句花的时间

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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89C51 单片机 8路舵机

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