51单片机控制舵机（MG995）.

舵机是通过占空比，来控制它的旋转角度，控制信号从单片机输出之后，不能直接接舵机，因为功率不够，中间接一个非门就可以了。控制信号的编程应该来说是很简单的，就是总周期是固定的，角度不同，高电平的持续时间就不同，然后，比如，50的高电平，150的低电平，那么这样的周期要多少个呢，这也是一个问题，太少了，旋转时间不够，太多了，连续的角度变化的话就会不流畅。多尝试一下吧，还有，这种例子也很多，我们那个时候调了一星期才调好，单片机的型号，引脚关系大嘛？只要是通用的io口都可以用啊

#include<REG52H>

#define OUT P0

#define CON P2

#define ms0_5Con 461

#define ms2_5Con 2304

typedef unsigned char unit8;

typedef unsigned short unit_16;

sbit servo0=OUT^0;

sbit servo1=OUT^1;

sbit servo2=OUT^2;

sbit servo3=OUT^3;

sbit servo4=OUT^4;

sbit servo5=OUT^5;

sbit servo6=OUT^6;

sbit servo7=OUT^7;

sbit KEY1=CON^0;

sbit KEY2=CON^1;

unit_16 pwm[8]={1382,1382,1382,1382,1382,1382,1382,1382}; //90,(13824,1382)

void Inter_Form()

{

TMOD|=0x01;

TH0 =0xf7;

TL0 =0x00;

TR0 =1;

ET0 =1;

EA =1;

}

void delay(unit8 x)

{

unit8 i=0;

while(x--)

{

for(i=0;i<125;i++);

}

}

/--------------------------------------------------/

/unit_16 Transform(uchar val)

{

//0=05ms, 45=1ms, 90=15ms, 135=2ms, 180=25ms

//25 ms F700, (12n/11059200=25/1000, n=2304, X=65536-2304=63232 > F700)

//return (unit_16)(((float)(2/180)X+05)/100011059200/12);

unit_16 a = (val+46)10;

if(a<ms0_5Con)

a=ms0_5Con;

if(a>ms2_5Con)

a=ms2_5Con;

return a;

} /

/----------------------------------------------------/

void Steering_UP(unit8 val)

{

if(pwm[val]>ms2_5Con)

pwm[val]=ms2_5Con;

pwm[val]=pwm[val]+10;

}

void Steering_Down(unit8 val)

{

if(pwm[val]<ms0_5Con)

pwm[val]=ms0_5Con;

pwm[val]=pwm[val]-10;

}

void main(void)

{

Inter_Form();

while(1)

{

if(!KEY1)

{

delay(2);

if(!KEY1)

Steering_UP(0);

}

else if(!KEY2)

{

delay(2);

if(!KEY2)

Steering_Down(0);

}

}

}

/--------------------------------------------------/

void SteeringGear() interrupt 1

{

static unit8 pwm_flag=0;

switch(pwm_flag)

{

case 1: servo0=1; TH0=-pwm[0]>>8; TL0=-pwm[0]; break;

case 2: servo0=0; TH0=-(ms2_5Con-pwm[0])>>8; TL0=-(ms2_5Con-pwm[0]); break;

case 3: servo1=1; TH0=-pwm[1]>>8; TL0=-pwm[1]; break;

case 4: servo1=0; TH0=-(ms2_5Con-pwm[1])>>8; TL0=-(ms2_5Con-pwm[1]); break;

case 5: servo2=1; TH0=-pwm[2]>>8; TL0=-pwm[2]; break;

case 6: servo2=0; TH0=-(ms2_5Con-pwm[2])>>8; TL0=-(ms2_5Con-pwm[2]); break;

case 7: servo3=1; TH0=-pwm[3]>>8; TL0=-pwm[3]; break;

case 8: servo3=0; TH0=-(ms2_5Con-pwm[3])>>8; TL0=-(ms2_5Con-pwm[3]); break;

case 9: servo4=1; TH0=-pwm[4]>>8; TL0=-pwm[4]; break;

case 10: servo4=0; TH0=-(ms2_5Con-pwm[4])>>8; TL0=-(ms2_5Con-pwm[4]); break;

case 11: servo5=1; TH0=-pwm[5]>>8; TL0=-pwm[5]; break;

case 12: servo5=0; TH0=-(ms2_5Con-pwm[5])>>8; TL0=-(ms2_5Con-pwm[5]); break;

case 13: servo6=1; TH0=-pwm[6]>>8; TL0=-pwm[6]; break;

case 14: servo6=0; TH0=-(ms2_5Con-pwm[6])>>8; TL0=-(ms2_5Con-pwm[6]); break;

case 15: servo7=1; TH0=-pwm[7]>>8; TL0=-pwm[7]; break;

case 16: servo7=0; TH0=-(ms2_5Con-pwm[7])>>8; TL0=-(ms2_5Con-pwm[7]); break;

default:TH0=0xff; TL0=0x80; pwm_flag=0;

}

pwm_flag++;

}

/---------------------------------------------------------------------------------

如有问题可再咨询

-----------------------------------------------------------------------------------/

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