基于51单片机的舞蹈机器人步进机仿真设计

程序运行图：

 仿真原理图：

部分程序：

#include "reg51.h"

#include "intrins.H"

//8步式步进电机脉冲序列

//unsigned char steps[8] = {0x77,0x33,0xbb,0x99,0xdd,0xcc,0xee,0x66};

unsigned char steps[8] = {0x2,0x6,0x4,0xc,0x8,0x9,0x1,0x3};

//当前各电机在上述序列中的位置

unsigned char cur_step[8] = {0,0,0,0,0,0,0,0};

//这个文件用于记录舞步信息序列

char speed_tickers[8] = {0,0,0,0,0,0,0,0};

//从上述文件中读出的当前舞步信息

unsigned char speeds[8] = {0,0,0,0,0,0,0,0};

unsigned char data_pointer = 0;//指向舞步数据的指针

unsigned char time_t = 0;//指定重新读取一次 speeds 值的计时周期

code char dancedata[] = {54,15,12,12,87,95,65,45,-89,-88,-54,-54,54,68,-45,-65,-65,-48,101,121,115,117,19,

-98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,109,104,-30,-102,-104,-106,110,100,

54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,-24,-98,95,102,102,

100,130,30,10,-90,-120,87,102,102,100,130,30,10,-90,-120,87,102,103,105,54,15,12,12,87,95,65,45,-89,-88,-54,

-98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,45,-89,-88,-54,

-98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,109,104,-30,-102,-104,-106,110,

100,130,30,10,-90,-120,87,102,102,100,130,30,10,-90,-120,87,-120,87,102,103,105,109,104,-30,-102,-104,-106,110,

54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,-24,-98,95,102,102,

54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,-24,-98,95,102,102,

54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,-24,-98,95,102,102,

54,15,12,12,87,95,65,45,-89,-88,-54,-54,-98,95,102,102,100,130,30,10,-90,-120,87,102-114,-101,-24,-98,95,102,102,

-98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,45,-89,-88,-54,

-98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,45,-89,-88,-54,

-98,-100,-21,-114,-101,-24,-98,95,102,102,100,130,30,10,-90,-120,87,102,103,105,12,87,95,65,45,-89,-88,-54,

};

code char pin[8] = {1,2,4,8,16,32,64,128};

char MAX_SPEED_TICKER = 120;

unsigned char i; //电机序号

void SetAllSpeeds(void)  //设置各电机的速度,并让它运动起来

{

  char delta;  //旋转方向 1:正 -1:反  0:停

  for(i=0;i<8;i++)

  {

    P2=pin[i]; //发送锁存信号

    speed_tickers[i] += speeds[i]; //计数值增加 speed[i]越高,增加得越多

    if(speed_tickers[i] >= MAX_SPEED_TICKER) //如果计数值超过预定最大值,就发送脉冲

    {

      speed_tickers[i] = 0;

      delta = 1;

    }

   

    {

      speed_tickers[i] = 0;

      delta = -1;

    }

    else delta = 0;

    cur_step[i] += delta;

    cur_step[i] &= 0x07; //计算当前应发脉冲

    P0 = steps[cur_step[i]];

    P2 = 0;

  }

}

void main()  //程序的入口

{

  InitTimer();  //初始化后等中断

  while(1);

}

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