单片机(8bit)的16路舵机调速分析与实现

时间：11-18 来源：互联网点击：

gle[g_readyBufferIndex][ROBOT_RIGHT_SHOULDER_VERTICAL];
g_diffAngle[PIN_GROUP_1][ROBOT_PIN_INDEX_RIGHT_SHOULDER_HORIZEN]=g_angle[g_readyBufferIndex][ROBOT_RIGHT_SHOULDER_HORIZEN];
g_diffAngle[PIN_GROUP_1][ROBOT_PIN_INDEX_RIGHT_ELBOW]=g_angle[g_readyBufferIndex][ROBOT_RIGHT_ELBOW];
g_diffAngle[PIN_GROUP_1][ROBOT_PIN_INDEX_LEFT_HIP_VERTICAL]=g_angle[g_readyBufferIndex][ROBOT_LEFT_HIP_VERTICAL];
g_diffAngle[PIN_GROUP_1][ROBOT_PIN_INDEX_RIGHT_HIP_VERTICAL]=g_angle[g_readyBufferIndex][ROBOT_RIGHT_HIP_VERTICAL];
g_diffAngle[PIN_GROUP_2][ROBOT_PIN_INDEX_LEFT_HIP_HORIZEN]=g_angle[g_readyBufferIndex][ROBOT_LEFT_HIP_HORIZEN];
g_diffAngle[PIN_GROUP_2][ROBOT_PIN_INDEX_LEFT_KNEE]=g_angle[g_readyBufferIndex][ROBOT_LEFT_KNEE];
g_diffAngle[PIN_GROUP_2][ROBOT_PIN_INDEX_LEFT_ANKLE]=g_angle[g_readyBufferIndex][ROBOT_LEFT_ANKLE];
g_diffAngle[PIN_GROUP_2][ROBOT_PIN_INDEX_LEFT_FOOT]=g_angle[g_readyBufferIndex][ROBOT_LEFT_FOOT];
g_diffAngle[PIN_GROUP_2][ROBOT_PIN_INDEX_RIGHT_HIP_HORIZEN]=g_angle[g_readyBufferIndex][ROBOT_RIGHT_HIP_HORIZEN];
g_diffAngle[PIN_GROUP_2][ROBOT_PIN_INDEX_RIGHT_KNEE]=g_angle[g_readyBufferIndex][ROBOT_RIGHT_KNEE];
g_diffAngle[PIN_GROUP_2][ROBOT_PIN_INDEX_RIGHT_ANKLE]=g_angle[g_readyBufferIndex][ROBOT_RIGHT_ANKLE];
g_diffAngle[PIN_GROUP_2][ROBOT_PIN_INDEX_RIGHT_FOOT]=g_angle[g_readyBufferIndex][ROBOT_RIGHT_FOOT];
//复位舵机管脚索引
g_diffAngleMask[PIN_GROUP_1][ROBOT_PIN_INDEX_LEFT_SHOULDER_VERTICAL]=ROBOT_PIN_MASK_LEFT_SHOULDER_VERTICAL;
g_diffAngleMask[PIN_GROUP_1][ROBOT_PIN_INDEX_LEFT_SHOULDER_HORIZEN]=ROBOT_PIN_MASK_LEFT_SHOULDER_HORIZEN;
g_diffAngleMask[PIN_GROUP_1][ROBOT_PIN_INDEX_LEFT_ELBOW]=ROBOT_PIN_MASK_LEFT_ELBOW;
g_diffAngleMask[PIN_GROUP_1][ROBOT_PIN_INDEX_RIGHT_SHOULDER_VERTICAL]=ROBOT_PIN_MASK_RIGHT_SHOULDER_VERTICAL;
g_diffAngleMask[PIN_GROUP_1][ROBOT_PIN_INDEX_RIGHT_SHOULDER_HORIZEN]=ROBOT_PIN_MASK_RIGHT_SHOULDER_HORIZEN;
g_diffAngleMask[PIN_GROUP_1][ROBOT_PIN_INDEX_RIGHT_ELBOW]=ROBOT_PIN_MASK_RIGHT_ELBOW;
g_diffAngleMask[PIN_GROUP_1][ROBOT_PIN_INDEX_LEFT_HIP_VERTICAL]=ROBOT_PIN_MASK_LEFT_HIP_VERTICAL;
g_diffAngleMask[PIN_GROUP_1][ROBOT_PIN_INDEX_RIGHT_HIP_VERTICAL]=ROBOT_PIN_MASK_RIGHT_HIP_VERTICAL;
g_diffAngleMask[PIN_GROUP_2][ROBOT_PIN_INDEX_LEFT_HIP_HORIZEN]=ROBOT_PIN_MASK_LEFT_HIP_HORIZEN;
g_diffAngleMask[PIN_GROUP_2][ROBOT_PIN_INDEX_LEFT_KNEE]=ROBOT_PIN_MASK_LEFT_KNEE;
g_diffAngleMask[PIN_GROUP_2][ROBOT_PIN_INDEX_LEFT_ANKLE]=ROBOT_PIN_MASK_LEFT_ANKLE;
g_diffAngleMask[PIN_GROUP_2][ROBOT_PIN_INDEX_LEFT_FOOT]=ROBOT_PIN_MASK_LEFT_FOOT;
g_diffAngleMask[PIN_GROUP_2][ROBOT_PIN_INDEX_RIGHT_HIP_HORIZEN]=ROBOT_PIN_MASK_RIGHT_HIP_HORIZEN;
g_diffAngleMask[PIN_GROUP_2][ROBOT_PIN_INDEX_RIGHT_KNEE]=ROBOT_PIN_MASK_RIGHT_KNEE;
g_diffAngleMask[PIN_GROUP_2][ROBOT_PIN_INDEX_RIGHT_ANKLE]=ROBOT_PIN_MASK_RIGHT_ANKLE;
g_diffAngleMask[PIN_GROUP_2][ROBOT_PIN_INDEX_RIGHT_FOOT]=ROBOT_PIN_MASK_RIGHT_FOOT;
}
#definePWM_STEERING_ENGINE(group)\
{\
counter=STEERING_ENGINE_INIT_DELAY;\
for(i=0;i<8;++i)\
counter+=g_diffAngle[PIN_GROUP_##group][i];\
\
for(i=0;i<30;++i)\
{\
GROUP_##group##_CONTROL_PIN=0xFF;\
Delay10us(STEERING_ENGINE_INIT_DELAY);\
\
for(j=0;j<8;++j)\
{\
Delay10us(g_diffAngle[PIN_GROUP_##group][j]);\
GROUP_##group##_CONTROL_PIN&=~(g_diffAngleMask[PIN_GROUP_##group][j]);\
}\
\
Delay10us(STEERING_ENGINE_CYCLE-counter);\
}\
}
voidmain()
{
UCHAR8i;
UCHAR8j;
UINT16counter;
InitSerialPort();
P1=0xFF;
//初始化舵机角度
for(i=0;i
{
g_angle[0][i]=45;
g_angle[1][i]=45;
}
for(i=0;i
for(j=0;j<8;++j)
g_diffAngle[i][j]=0;
FillDiffAngle();
InitPwmPollint();
while(1)
{
#ifdefDEBUG_PROTOCOL
if(g_fillingBufferIndex)
{
P11=0;
P10=1;
}
else
{
P11=1;
P10=0;
}
if(g_swapBuffer)
P12=0;
else
P12=1;
#endif
if(g_swapBuffer)
{
FillDiffAngle();
g_swapBuffer=FALSE;
InitPwmPollint();
}

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