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#include<reg51.h>
#define DATAOUT P0
#define TH0_TL0 (65536-1000)//設(shè)定中斷的間隔時(shí)長
sbit Key_add=P1 ^ 0; //電機(jī)減速
sbit Key_dec=P1 ^ 2; //電機(jī)加速
sbit Key_turn=P1 ^ 1; //電機(jī)換向
sbit PWM1=P2^6;//PWM 通道1，反轉(zhuǎn)脈沖
sbit PWM2=P2^7;//PWM 通道2，正轉(zhuǎn)脈沖
void LCD_write_char(unsigned char x,unsigned char y,char ch );
sbit rs=P2^0;
sbit rw=P2^1;
sbit e=P2^2;
void LCD_Writecmd(unsigned char cmd);
void LCD_Writedata(unsigned char dat);
void LCD_write_str(unsigned char x,unsigned char y,char str[]);
void LCD_clear(void);
void LCD_Init(void);
void delay_us(unsigned char y);
void delay_ms(unsigned char z);
void Delay(unsigned char x);
void Motor_speed_high(void);
void Motor_speed_low(void);
void Motor_turn(void);
void Timer0_init(void);
unsigned char count0 = 50;//低電平的占空比
unsigned char Time_delay;
unsigned char count1 = 0;//高電平的占空比
bit Flag = 1;//電機(jī)正反轉(zhuǎn)標(biāo)志位,1正轉(zhuǎn)，0反轉(zhuǎn)
void Delay(unsigned char x)
{
Time_delay = x;
while(Time_delay != 0);//等待中斷，可減少PWM輸出時(shí)間間隔
}
void Motor_speed_high(void)//
{
if(Key_add==0)
{
Delay(10);
if(Key_add==0)
{
count0 += 10;
if(count0 >= 100)
{
count0 = 100;
}
}
while(!Key_add);//等待鍵松開
}
}
void Motor_speed_low(void)
{
if(Key_dec==0)
{
Delay(10);
if(Key_dec==0)
{
count0 -= 10;
if(count0 <= 0)
{
count0 = 0;
}
}
while(!Key_dec );
}
}
void Motor_turn(void)
{
if(Key_turn == 0)
{
Delay(10);
if(Key_turn == 0)
{
Flag = ~Flag;
}
while(!Key_turn);
}
}
void Timer0_init(void)
{
TMOD=0x01; //定時(shí)器0工作于方式1
TH0=TH0_TL0/256;
TL0=TH0_TL0%256;
TR0=1;
ET0=1;
EA=1;
}
void Timer0_int(void) interrupt 1 using 1
{
TR0 = 0;//設(shè)置定時(shí)器初值期間，關(guān)閉定時(shí)器
TL0 = TH0_TL0 % 256;
TH0 = TH0_TL0 / 256; //定時(shí)器裝初值
TR0 = 1;
if(Time_delay != 0)//延時(shí)函數(shù)用
{
Time_delay--;
}
if(Flag == 1)//電機(jī)正轉(zhuǎn)
{
PWM1 = 0;
if(++count1 < count0)
{
PWM2 = 1;
}
else
PWM2 = 0;
if(count1 >= 100)
{
count1=0;
}
}
else //電機(jī)反轉(zhuǎn)
{
PWM2 = 0;
if(++count1 < count0)
{
PWM1 = 1;
}
else
PWM1 = 0;
if(count1 >= 100)
{
count1=0;
}
}
}
void delay_us(unsigned char j)/* 簡易延時(shí)函數(shù) */
{
unsigned char k,i;
for(k=j;j>0;j--)
for(i=100;i>0;i--);
}
void delay_ms(unsigned char j) /* 簡易延時(shí)函數(shù) */
{
unsigned char k,i;
for(k=j;j>0;j--)
for(i=256;i>0;i--);
}
void LCD_Writecmd(unsigned char cmd)//寫指令到LCD1602
{
rs=0;
delay_us(1);
rw=0;
delay_us(1);
e=1;
DATAOUT=cmd;
delay_us(300);
e=0;
}
void LCD_Writedata(unsigned char dat)//寫數(shù)據(jù)到LCD1602
{
rs=1;
delay_us(1);
rw=0;
delay_us(1);
e=1;
DATAOUT=dat;
delay_us(300);
e=0;
}
void LCD_write_char(unsigned char x,unsigned char y,char ch )//在指定位置顯示一個(gè)字符
{
if(y==0)
LCD_Writecmd(0x80+x);
else
LCD_Writecmd(0xc0+x);
LCD_Writedata(ch);
}
void LCD_write_str(unsigned char x,unsigned char y,char str[])//使LCD1602顯示一個(gè)字符串
{
unsigned char i=0;
if(y==0)
LCD_Writecmd(0x80+x);
else
LCD_Writecmd(0xc0+x);
while(str[i]!='\0')
{
LCD_Writedata(str[i]);
++i;
}
}
void LCD_clear(void)//清屏函數(shù)
{
LCD_Writecmd(0x01);
delay_ms(5);
}
void LCD_Init(void)//LCD初始化
{
delay_ms(100);
LCD_Writecmd(0x38);
delay_ms(10);
LCD_Writecmd(0x38);
delay_ms(10);
LCD_Writecmd(0x38);
delay_ms(10);
LCD_Writecmd(0x38);
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