用超声波测距控制舵机转动,我这个单片机代码怎么没反应,各位大佬能否帮我看看

ID:1091511 · 发表于 2023-8-18 10:48

#include<reg52.h>
#include<intrins.h>
#include<stdio.h>
typedef unsigned char uchar;
typedef unsigned int uint;
sbit Trig = P2^0;
sbit Echo = P2^1;
sbit Servo = P2^7;//
uchar flag=0;
uchar control=15;
uchar servorTime=0;

void delay(uchar z)
{
      uchar i,j;
      for(i = z;i>0;i--)
            for(j=114;j>0;j--);
}

void Delay10us()             //@11.0592MHz
{
      unsigned char data i;

      _nop_();
      i = 25;
      while (--i);
}

void Delay20ms()             //@11.0592MHz
{
      unsigned char data i, j;

      i = 216;
      j = 37;
      do
      {
            while (--j);
      } while (--i);
}

void Timer0_Init()             //100??@11.0592MHz
{

      TMOD |= 0x11;
      TL0 = 0;
      TH0 = 0;
      ET0 = 1;
}

void Timer1_Init()             //100??@11.0592MHz
{
      TMOD |= 0x11;
      TL1 = 0xAE;
      TH1 = 0xFB;
      TF1 = 0;
      TR1 = 1;
      EA = 1;
      ET1= 1;
}

void main()
{
      uint time,distance;
      Timer0_Init();
      Timer1_Init();
      Echo = 0;
      Trig = 0;
      servorTime=0;
      while(1)
      {
            Trig = 1;
            Delay10us();
            Trig = 0;
            while(Echo==0);
                     TR0 = 1;
            while(Echo);
                     TR0 = 0;
            time = TH0*256+TL0;
            distance = (int)(time*0.017);
            TH0 = 0;
            TL0 = 0;
            if(distance < 30)
            {
                     control=15;
                     servorTime = 0;
                     TR1 = 1;
                     Delay20ms();
                     Delay20ms();
                     TR1 = 0;
            }
            else
            {
                     control=5;
                     servorTime = 0;
                     TR1 = 1;
                     Delay20ms();
                     Delay20ms();
                     TR1 = 0;
            }
      }
}
void Timer0() interrupt 1
{
      TH0 = 0;
      TL0 = 0;
}
void Timer1() interrupt 3
{
      TH1 = 0xFB;
      TL1 = 0xAE;
      servorTime++;
      if(servorTime <= control)
            Servo = 1;
      else
            Servo = 0;
      if(servorTime==200)
      {
            servorTime = 0;
      }
}

ID:161164 · 发表于 2023-8-18 17:37

1。
TH1 = 0xFB;
TL1 = 0xAE;
的定时时间是1ms

2。
舵机要稳定的PWM信号才会保持角度
你的代码运行舵机的PWM 40ms 然后就停了
PWM信号就不稳定了

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