51单片机（普中板） 90g360°舵机控制

主函数 main

#include <REGX52.H>
#include "Delay.h"
#include "Timer0.h"

unsigned char count = 0;
unsigned char pwm;

void Timer0() interrupt 1
{    
    // 每隔0.1ms=100us进入
    TH0 = 65435 / 256;                //设置定时初始值
    TL0 = 65435 % 256;                //设置定时初始值

    if (count <= pwm)  //5=0.5ms=500us 顺时针 //15=1.5ms=1500us 逆时针
    {P0_0 = 1;}  //高电平      
    else
    {P0_0 = 0;}  //低电平
    
    count ++;
    if (count >= 200)
    {count = 0;}
}

void main()
{
    Timer_Init();
    while(1)
    {
        pwm = 5;
        Delay(2000);
        count = 0;

        pwm = 15;
        Delay(2000);
        count = 0;
    }
}

Delay.h

#ifndef __Delay_H__
#define __Delay_H__


void Delay(unsigned int xms);

#endif

Delay.c

#include <REGX52.H>
#include <intrins.h>
// 100us
// 1ms = 1000us = Delay(10)
// 20ms = 20000us = Delay(200)
void Delay(unsigned int xms)        //@11.0592MHz
{
    unsigned char i;
    while (xms--)
    {
        _nop_();
        i = 43;
        while (--i);
    }

}

Timer0.h

#ifndef __Timer0_H__
#define __Timer0_H__


void Timer_Init();        //1毫秒@11.0592MHz


#endif

Timer.c

#include <REGX52.H>

void Timer_Init()        //@11.0592MHz
{
    //设置定时器模式
    TMOD &= 0xF0;            
    TMOD |= 0x01;
    
    TF0 = 0;                //清除TF0标志
    TR0 = 1;                //定时器0开始计时
    // 65535us
    // 100us = 0.1ms 65435  TH0=0xff=65435/256,TL0=0x9b=65435%256
    // 1000us = 1ms 64535 
    // 20000us = 20ms 45535
    TH0 = 65435 / 256;                //设置定时初始值
    TL0 = 65435 % 256;                //设置定时初始值


    ET0 = 1; // 中断
    EA = 1; // 中断
    PT0 = 0; //中断优先级
}

/*  
// 定时器中断函数
void Timer0() interrupt 1
{    
    static unsigned int count;  //static 静态变量，函数结束不清零
    TL0 = 0xff;                //设置定时初始值
    TH0 = 0x9b;                //设置定时初始值
    count ++;
    if (count >= 100)
    {
        count = 0;
        P2_1 =~ P2_1;
    }
}
*/

 独立键盘控制（正转，反转，暂停）

问题：有时候点击k1或k2需要按两下，第一下暂停，第二下才正转或反转

#include <REGX52.H>
#include "Delay.h"
#include "Timer0.h"

unsigned char count = 0;
unsigned char pwm;

void Timer0() interrupt 1
{    
    // 每隔0.1ms=100us进入
    TH0 = 65435 / 256;                //设置定时初始值
    TL0 = 65435 % 256;                //设置定时初始值

    if (count <= pwm)  //5=0.5ms=500us 顺时针 //15=1.5ms=1500us 逆时针
    {P0_0 = 1;}  //高电平      
    else
    {P0_0 = 0;}  //低电平
    
    count ++;
    if (count >= 200)
    {count = 0;}
}

void main()
{
    Timer_Init();
    while(1)
    {
        if (P3_1 == 0)  // P3_1=独立键盘k1
        { // 顺时针转动
            Delay(20);
            while (P3_1 == 0);
            Delay(20);
            count = 0;
            pwm = 5;  
        }
        if (P3_0 == 0)  // P3_0=独立键盘k2
        { // 逆时针转动
            Delay(20);
            while (P3_0 == 0);
            Delay(20);
            count = 0;
            pwm = 15;
        }
        if (P3_2 == 0)  // P3_2=独立键盘k3
        { // 暂停转动
            Delay(20);
            while (P3_0 == 0);
            Delay(20);
            count = 0;
            pwm = 150;
        }
    }
}

原理可参考：(38条消息) 180度舵机与360度舵机_Xander Yuan的博客-CSDN博客

控制角度（未成功，还需改进，暂做记录）

方法：通过1个单位时间(20ms)舵机转动角度大小来控制整个角度，测试11个单位时间舵机能转一圈。

#include <REGX52.H>
#include "Delay.h"
#include "Timer0.h"

unsigned char count = 0;
unsigned char pwm;
unsigned char n = 0;
void Timer0() interrupt 1
{    
    // 每隔0.1ms=100us进入
    TH0 = 65435 / 256;                //设置定时初始值
    TL0 = 65435 % 256;                //设置定时初始值

    if (count <= pwm)  //5=0.5ms=500us 顺时针 //15=1.5ms=1500us 逆时针
    {P0_0 = 1;}  //高电平 pwm毫秒的高电平     
    else
    {P0_0 = 0;}  //低电平
    
    count ++;
    if (count >= 200)
    {count = 0;
     n ++ ;}
}

void main()
{
    Timer_Init();
    while(1)
    {
        if (n >= 1) //一个脉冲（20ms）转动角度
        {
            count = 0;
            pwm = 0;
            
        }
        
        if (P3_1 == 0)  // P3_1=独立键盘k1
        { // 顺时针转动
            Delay(20);
            while (P3_1 == 0);
            Delay(20);
            n = 0;
            count = 0;
            pwm = 5;  
        }
        if (P3_0 == 0)  // P3_0=独立键盘k2
        { // 逆时针转动
            Delay(20);
            while (P3_0 == 0);
            Delay(20);
            count = 0;
            pwm = 15;
        }
        if (P3_2 == 0)  // P3_2=独立键盘k3
        { // 暂停转动
            Delay(20);
            while (P3_0 == 0);
            Delay(20);
            count = 0;
            pwm = 150;
        }
        if (P3_3 == 0)
        {
            Delay(20);
            while (P3_3 == 0);
            Delay(20);
            n ++ ;
        }
    }
}