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# include <Motor_Con.h>
sbit KEY_XFOR = P2^6; //X正轉按鍵
sbit KEY_XREV = P2^5; //X反轉按鍵
sbit KEY_XUP = P1^2; //X加速按鍵
sbit KEY_XDOWN =P1^1; //X減速按鍵
sbit KEY_YFOR = P2^7; //Y正轉按鍵
sbit KEY_YREV = P1^6; //Y反轉按鍵
sbit KEY_YUP = P1^5; //Y加速按鍵
sbit KEY_YDOWN =P1^4; //Y減速按鍵
sbit KEY_SET_UP =P2^2; //位移加按鍵
sbit KEY_SET_DOWN =P2^3; //位移減按鍵
sbit KEY_SETX =P2^0; //X位移設置按鍵
sbit KEY_SETY =P2^1; //Y位移設置按鍵
sbit KEY_STOP =P2^4; //啟動停止按鍵
extern char User_Data[];
int Distance_X2,Distance_Y2; //定時器所需取反的脈沖次數
int Distance_X1,Distance_Y1; //位移編號
extern int num_x,num_y; //x、y速度
int Order_X=10,Order_Y=10; //初始化XY指令為電機停止
int Distance[]={5,10,30,60,100}; //位移顯示
bit stop=0; //啟動停止標志
/*按鍵掃描函數*/
void KEY_SCAN()
{
if((KEY_XFOR == 0)) //X正轉按鍵被按下或接收到X正轉指令
FOR(0);
if((KEY_YFOR == 0)) //Y正轉按鍵被按下或接收到Y正轉指令
FOR(1);
if((KEY_XREV == 0)) //X反轉按鍵被按下或接收到X反轉指令
REV(0);
if((KEY_YREV == 0)) //Y反轉按鍵被按下或接收到Y反轉指令
REV(1);
if((KEY_XUP == 0)) //X加速按鍵被按下或接收到X加速指令
{ delay(300); if((KEY_XUP == 0)) Speed_UP(0); }while(!KEY_XUP);
if((KEY_YUP == 0) ) //Y加速按鍵被按下或接收到Y加速指令
{ delay(300); if((KEY_YUP == 0)) Speed_UP(1); }while(!KEY_YUP);
if((KEY_XDOWN == 0)) //X減速按鍵被按下或接收到X減速指令
{ delay(300); if((KEY_XDOWN == 0)) Speed_DOWN(0);}while(!KEY_XDOWN);
if((KEY_YDOWN == 0)) //Y減速按鍵被按下或接收到Y減速指令
{ delay(300); if((KEY_YDOWN == 0) ) Speed_DOWN(1);}while(!KEY_YDOWN);
}
void Distance_Data()
{
switch(Distance_Y1)
{
case 1 : Distance_Y2=500; break;
case 2 : Distance_Y2=1000; break;
case 3 : Distance_Y2=3000; break;
case 4 : Distance_Y2=6000; break;
case 5 : Distance_Y2=10000; break;
}
switch(Distance_X1)
{
case 1 : Distance_X2=200; break;
case 2 : Distance_X2=400; break;
case 3 : Distance_X2=1200; break;
case 4 : Distance_X2=2400; break;
case 5 : Distance_X2=4000; break;
}
}
void Distance_Set()
{
int i=0;
Disp_Str(2,0,"SET_X: mm",11); //顯示
Disp_Str(3,0,"SET_Y: mm",11);
if(KEY_SETX==0) //位移設置按鍵按下
{
delay(500);
if(KEY_SETX==0)
{
while(!KEY_SETX);
ET0=0; //關定時器0，電機停止
while(1) //進入死循環，設置位移距離
{
if(KEY_SET_UP==0) //位移加按鍵按下
{
delay(100);
Distance_X1++;
i++;
if(Distance_X1==6)//位移數組最大到6
Distance_X1=1;
if(i==5)
i=0;
}
if(KEY_SET_DOWN==0)
{
delay(100);
Distance_X1--;
i--;
if(Distance_X1<1)
Distance_X1=5;
if(i<0)
i=4;
}
Write_Int(2,3,Distance[i]); //顯示當前速度
Distance_Data(); //位移設置
delay(500);
if(KEY_SETX==0) //位移設置按鍵再次按下退出循環
{
ET0=1;
return;
}
}
}
}
if(KEY_SETY==0)
{
delay(500);
if(KEY_SETY==0)
{
while(!KEY_SETY);
ET0=0;
while(1)
{
if(KEY_SET_UP==0)
{
delay(100);
Distance_Y1++;
i++;
if(Distance_Y1==6)
Distance_Y1=1;
if(i==5)
i=0;
}
if(KEY_SET_DOWN==0)
{
delay(100);
Distance_Y1--;
i--;
if(Distance_Y1<1)
Distance_Y1=5;
if(i<0)
i=4;
}
Write_Int(3,3,Distance[i]);
Distance_Data();
if(KEY_SETY==0)
{
ET0=1;
return;
}
}
}
}
}
/*限位開關掃描*/
void RUN_SCAN()
{
static uint Y,X;
if(EXTI1==0) //Y軸
{
delay(100);
if(EXTI1==0)
{
DIR_Y=~DIR_Y;
Y++;
if(Y%2) //每次取反之后變量加一，從而判斷正反轉
{
Disp_Str(1,1,"RE",2); //顯示反轉
Uart_String("B0002\r\n"); //發送反轉指令
}
else
{
Disp_Str(1,1,"FO",2);
Uart_String("B0001\r\n");
}
}while(!EXTI1);
}
if(EXTI0==0) //X軸
{
delay(100);
if(EXTI0==0)
{
DIR_X=~DIR_X;
X++;
if(X%2)
{
Disp_Str(0,1,"RE",2);
Uart_String("A0002\r\n");
}
else
{
Disp_Str(0,1,"FO",2);
Uart_String("A0001\r\n");
}
}while(!EXTI0);
}
}
/*啟動停止按鈕*/
void Usert_receive()
{
if(KEY_STOP==0)
{
delay(200);
if(KEY_STOP==0)
stop=~stop;
}while(!KEY_STOP);
}
void main()
{
Lcd_Init(); //LCD初始化
Timer0Init(); //定時器0初始化
UsartInit(); //串口初始化
while(1)
{
Usert_receive(); //判斷啟動按鍵是否被按下
while(!(stop==1)) //系統沒有啟動卡死在改循環中
{
Usert_receive(); //判斷啟動是否被按下
ET0=0; //關閉定時器0
Disp_Str(2,0," Welcome! ",16); //顯示
Disp_Str(3,0," Please Start! ",16);
}
Distance_Set(); //位移設置按鍵掃描
RUN_SCAN(); //限位開關掃描
ET0=1; //打開定時器
KEY_SCAN(); //控制按鍵掃描
}
}

復制代碼

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