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1、#include #define Stop 0/ 宏定义,停止#define Left 1/ 宏定义,左转#define Right 2/ 宏定义,右转sbit ControlPort = P2A0;/ 舵机信号端口sbit KeyLeft = P1A0; / 左转按键端口sbit KeyRight = P1A1;/ 右转按键端口sbit KeyStop = P1A2;/ 归位按键端口unsigned char TimeOutCounter = 0,LeftOrRight = 0; /TimeOutCounter :定时器溢出计数 LeftOrRight:舵机左右旋转标志void Initia
2、lTimer ( void )TMOD=0x10; /定时 /计数器1 工作于方式1TH1 = ( 65535 - 500 ) / 256;/0.25msTL1 = ( 65535 - 500 ) % 256;EA=1;/开总中断ET1=1;/允许定时/计数器1中断TR1=1;/启动定时/ 计数器1中断void ControlLeftOrRight ( void )/ 控制舵机函数if( KeyStop = 0 )/while ( !KeyStop );/ 使标志等于Stop(0) ,在中断函数中将用到LeftOrRight = Stop;if( KeyLeft = 0 )/while ( !
3、KeyLeft );/ 使标志等于Left (1) ,在中断函数中将用到LeftOrRight = Left;if( KeyRight = 0 )/while ( !KeyRight );/ 使标志等于Right (2) ,在中断函数中将用到LeftOrRight = Right;void main ( void )/ 主函数InitialTimer();for(;)ControlLeftOrRight();void Timer1 ( void ) interrupt 3/ 定时器中断函数TH1 = ( 65535 - 500 ) / 256;TL1 = ( 65535 - 500 ) % 2
4、56;TimeOutCounter +;switch ( LeftOrRight ) case 0 :/ 为 0 时,舵机归位,脉宽 1.5msif( TimeOutCounter = 6 )ControlPort = 1; elseControlPort = 0; break;case 1 :为1时,舵机左转,脉宽 1ms (理论值),实际可以调试得出if( TimeOutCounter = 2 )ControlPort = 1; elseControlPort = 0; break;case 2 :/ 为 2 时,舵机右转,脉宽2ms (理论值),实际可以调试得出if( TimeOutCounter = 10 )ControlPort = 1;elseControlPort = 0;break;default : break;if( TimeOutCounter = 80 )/ 周期 20ms (理论值) ,比较可靠,最好不要修改TimeOutCounter = 0;