我是用51单片机来控制两个步进电机的运动，同时还要用串口通讯发送数据给串口助手显示，但是单片机的两个定时器都被步进电机占用了，有什么解决办法吗。程序如下：
#include<reg52.h>
#include<stdio.h>
#include "PCF8591.H"
#define uchar unsigned char
#define uint unsigned int
#define del 2 //速度调节
#define ydl 5 //移动量调节
#define PCF8591 0x90 //PCF8591 地址
uint s=0,x=0; //s表示上，x表示下
uint z=0,y=0; //
uint sx=0,zy=0;
sbit ENTER = P3^3;
sbit UP = P3^4;
sbit DOWN = P3^5;
sbit LEFT = P3^6;
sbit RIGHT = P3^7;
sbit LED1 = P1^2;
sbit LED2 = P1^3;
uchar Motor_Up[4]={0x08,0x04,0x02,0x01};
uchar Motor_Down[4]={0x01,0x02,0x04,0x08};
uchar Motor_Left[4]={0x10,0x20,0x40,0x80};
uchar Motor_Right[4]={0x80,0x40,0x20,0x10};
unsigned char AD_CHANNEL;
uchar AD_Up,AD_Down,AD_Left,AD_Right;
uchar i,j,k;
uchar Table[4];
uint alt,alt1;
//延时函数
void Delay_ms(uint jj)
{
uint ii;
while(jj--)
for(ii=0;ii<125;ii++);
}
void delay(unsigned int time)
{
unsigned int o,p;
for(o=0;o<1000;o++)
for(p=0;p<time;p++);
}
void UART_Init(void)
{
TMOD = 0x11; //定时器模式选择
TH0 = (65535-50000)%256;
TL0 = (65535-50000)/256;
ET0=1; //使能定时器0
TR0 = 1; //启动定时器1
TH1 = (65535-50000)%256;
TL1 = (65535-50000)/256;
ET1=1; //使能定时器0
TR1 = 1; //启动定时器1
EA=1; //开启总中断
}
/********************************************************************
* 名称 : PSend_Hex()
* 功能 : 发送字符串函数,可控制发送长度
* 变量 : 无
* 返回值 : 无
********************************************************************/
void Send_Hex(unsigned char *p,unsigned char num)
{
while(num--) //剩余发送的字符数
{
SBUF = *p; //将要发送的数据赋给串口缓冲寄存器
while(!TI);//等待发送结束
TI = 0; //软件清零
p++; //指针加一
}
}
void main() //函数功能：主函数
{
Delay_ms(200);
UART_Init();
SCON = 0x50; //串口方式1，允许接收
TMOD = 0x20; //定时器1定时方式2
TCON = 0x40; //设定时器1开始计数
TH1 = 0XFD; //11.0592MHz 9600波特率
TI = 1;
TR1 = 1; //启动定时器
while(1)
{
if(!ENTER)
{
Delay_ms(20);
while(!ENTER);
k++;
}
if(k%2 == 0)
{
LED1 = 1;
LED2 = 0;
for(i=0;i<8;i++)
{
switch(AD_CHANNEL)
{
case 0: PCF8591_ISendByte(PCF8591,0x41);
AD_Up=PCF8591_IRcvByte(PCF8591)*2; //模拟输入口1A/D转换
break;
case 1: PCF8591_ISendByte(PCF8591,0x42);
AD_Down=PCF8591_IRcvByte(PCF8591)*2; //模拟输入口2A/D转换
break;
case 2: PCF8591_ISendByte(PCF8591,0x43);
AD_Left=PCF8591_IRcvByte(PCF8591)*2; //模拟输入口3A/D转换
break;
case 3: PCF8591_ISendByte(PCF8591,0x40);
AD_Right=PCF8591_IRcvByte(PCF8591)*2; //模拟输入口4A/D转换
break;
}
Send_Hex(Table,4);
if(++AD_CHANNEL>3)
{
AD_CHANNEL=0;
Table[0] = AD_Up;
Table[1] = AD_Down;
Table[2] = AD_Left;
Table[3] = AD_Right;
}
}
}
if(k%2 == 1)
{
LED1 = 0;
LED2 = 1;
AD_Up = 0; //上
AD_Down = 0;//下
AD_Left = 0;//左
AD_Right = 0;//右
}
zy=y-z;
zy=zy*5.625;
sx=x-s;
sx=sx*5.625;
printf("fangxiang:%d\n",zy);
printf("fujjiao:%d\n",sx);
delay(100);
///////////////////////////
////////////////////////////////////
//Delay_ms(100);//延时，可适当修改
}
}
void timer0() interrupt 1
{
TH0 = (65535-50000)%256;
TL0 = (65535-50000)/256;
alt++;
if(alt==3)
{
alt=0;
if(((AD_Up<AD_Down)&&(AD_Down-AD_Up>10))||(!UP))//上转
{
for(i=0;i<ydl;i++)
{
for(j=0;j<4;j++)
{
P2=Motor_Up[j];
Delay_ms(del);
}
s=s+1;
}
}
//////////////////////////////////////
if(((AD_Up>AD_Down)&&(AD_Up-AD_Down>10))||(!DOWN))//下转
{
for(i=0;i<ydl;i++)
{
for(j=0;j<4;j++)
{
P2=Motor_Down[j];
Delay_ms(del);
}
x=x+1;
}
}
}
}
void timer1() interrupt 3
{
TH1 = (65535-50000)%256;
TL1 = (65535-50000)/256;
alt1++;
if(alt1==3)
{
alt1=0;
/////////////////////////////
if(((AD_Left<AD_Right)&&(AD_Right-AD_Left>10))||(!LEFT))//左转
{
for(i=0;i<ydl;i++)
{
for(j=0;j<4;j++)
{
P2=Motor_Left[j];
Delay_ms(del);
}
z=z+1;
}
}
//////////////////////////////////////
if(((AD_Left>AD_Right)&&(AD_Left-AD_Right>10))||(!RIGHT))//右转
{
for(i=0;i<ydl;i++)
{
for(j=0;j<4;j++)
{
P2=Motor_Right[j];
Delay_ms(del);
}
y=y+1;
}
}
}
}
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