部分程序圖
#include<reg52.h>
#include"lcd1602.h"
sfr T2MOD = 0x0c9;
#define uchar unsigned char
#define uint unsigned int
sbit Q0 = P2^4;
sbit Q1 = P2^5;
sbit Q2 = P2^6;
sbit Q3 = P2^7;
sbit PWM = P1^7;
sbit UP = P1^0;
sbit DOWM = P1^1;
sbit GORB = P2^3; //換相
sbit ADDSPEED = P1^2;
sbit SUBSPEED = P1^3;
uint tuint = 65535;
uint tpwm = 1; //pwm周期為10000us tpwm變量表示pwm高電平時間，也相當于占空比 (仿真時，頻率高時，電機反應慢。在實物上要加大頻率)
uchar t1_flag = 0;
uint pulse = 0;
uint t0_flag = 0;
uchar t2_flag = 0;
bit t2_over = 0;
bit Just_Get = 1;
#define ZZ { Q0 = 0;Q1 = 0;Q2 = 1;Q3 = 1;} //正轉
#define FZ { Q0 = 1;Q1 = 1;Q2 = 0;Q3 = 0;} //反轉
#define STOP { Q0 = 1;Q1 = 0;Q2 = 1;Q3 = 0;} //停止
//禁止出現 Q0 = 0;Q1 = 1;Q2 = 0;Q3 = 1; 不然會燒掉mos管
//************************ PID *************************************
float now = 0,bef = 0,bbef = 0; //本次采樣值，上次采樣值，上上次采樣值
float err_now,err_bef,err_bbef; //當前偏差，上次偏差，上上次偏差
float error_add = 0; //所有偏差之和
float set = 25; //設定值
float kp = 25;
float ki = 25;
float kd = 0;
//*****************************************************************
void delayms(uint ms)//延時？個 ms
{
uchar a,b,c;
while(ms--)
{
for(c=1;c>0;c--)
for(b=142;b>0;b--)
for(a=2;a>0;a--);
}
}
void timer_init()
{
EA = 1;
ET0 = 1;
ET1 = 1;
ET2 = 1;
TMOD = 0x15; //定時器0 計數模式 定時器1模式1
T2MOD = 0x01;
TH0 = TL0 = 255;
TH2 = 0x3C;
TL2 = 0xB0; //50MS
}
void timer1() interrupt 3
{
if(t1_flag == 0)
{
t1_flag = 1;
PWM = 1;
TH1 = (tuint - tpwm + 1)/256;
TL1 = (tuint - tpwm + 1)%256;
}
else
{
t1_flag = 0;
PWM = 0;
TH1 = (tuint - 10000 + tpwm + 1)/256;
TL1 = (tuint - 10000 + tpwm + 1)%256;
}
}
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