查看:7133|回复:11

51单片机 四足机器人 12路PWM源程序

 [复制链接]

ID:516644发表于 2019-9-3 18:16|显示全部楼层

之前比赛做的一个小四足机器人，由51单片机产生十二路PWM控制十二个舵机进行运动，用蓝牙遥控

单片机源程序如下:

1. #include "headfile.h"
   
2. 
   
3. void jihuo()       //激活/停止
   
4. {
   
5.      uint sign = 3;
   
6. //调整四脚姿势
   
7.      delayms(250);
   
8.      t_up0 = 1800;
   
9.      t_up1 = 1500;
   
10.      t_up2 = 1500;
    
11.      t_up3 = 1500;
    
12.      t_up4 = 1500;
    
13.      t_up5 = 1500;
    
14.      t_up6 = 1500;
    
15.      t_up7 = 1500;
    
16.      t_up8 = 1500;
    
17.      t_up9 = 1100;
    
18.      t_up10 = 1500;
    
19.      t_up11 = 1600;
    
20.     
    
21. //抬左前腿
    
22.      delayms(200);
    
23.      t_up7 = 1800;
    
24.      delayms(50);
    
25.      t_up8 = 1200;
    
26.      while(sign--)
    
27.      {
    
28.          delayms(200);
    
29.          t_up6 = 1100;
    
30.          delayms(200);
    
31.          t_up6 = 1500;
    
32.      }
    
33.      delayms(200);
    
34.      t_up7 = 1500;
    
35.      delayms(50);
    
36.      t_up8 = 1500;
    
37.      delayms(200);
    
38.      t_up0 = 1500;
    
39.      t_up9 = 1500;
    
40. }
    
41. 
    
42. void ahead()       //前进
    
43. {
    
44. //调整四脚姿势
    
45.      delayms(250);
    
46.      t_up0 = 1500;    
    
47.      t_up1 = 1500;
    
48.   t_up2 = 1500;
    
49.   t_up3 = 1500;
    
50.   t_up4 = 1500;
    
51.   t_up5 = 1500;
    
52.   t_up6 = 1500;
    
53.   t_up7 = 1500;
    
54.   t_up8 = 1500;
    
55.   t_up9 = 1500;
    
56.   t_up10 = 1500;
    
57.   t_up11 = 1600;
    
58.      while(direc == 2)
    
59.      {
    
60. //抬右腿
    
61.          delayms(250);
    
62.          t_up1 = 1200;
    
63.          delayms(125);
    
64.          t_up2 = 1800;
    
65.          delayms(100);
    
66.          t_up0 = 1900;
    
67.          delayms(100);
    
68.          t_up1 = 1700;
    
69.         
    
70.          t_up6 = 1900;
    
71.          delayms(100);
    
72.          t_up3 = 1000;
    
73.          delayms(50);
    
74.          t_up4 = 1300;
    
75.          delayms(100);
    
76.          t_up9 = 1100;
    
77.          delayms(100);
    
78.          t_up5 = 1300;
    
79.          t_up2 = 1500;
    
80.          delayms(100);
    
81.          t_up5 = 1500;
    
82.          delayms(50);
    
83.          t_up4 = 1500;
    
84. 
    
85. //抬左腿
    
86.          delayms(250);
    
87.          t_up7 = 1800;
    
88.          delayms(125);
    
89.          t_up8 = 1200;
    
90.          delayms(100);
    
91.          t_up6 = 1400;
    
92.          delayms(100);
    
93.          t_up7 = 1300;
    
94.         
    
95.          t_up0 = 1500;
    
96.          delayms(100);
    
97.          t_up9 = 1500;
    
98.          delayms(50);
    
99.          t_up10 = 1700;
    
100.          delayms(100);
     
101.          t_up3 = 1500;
     
102.          delayms(100);
     
103.          t_up11 = 1800;
     
104.          t_up8 = 1500;
     
105.          delayms(100);
     
106.          t_up11 = 1600;
     
107.          delayms(50);
     
108.          t_up10 = 1500;
     
109.      }
     
110. }
     
111. 
     
112. void back()       //后退
     
113. {
     
114. //调整四脚姿势
     
115.      delayms(250);
     
116.      t_up0 = 1500;
     
117.      t_up1 = 1500;
     
118.   t_up2 = 1500;
     
119.   t_up3 = 1500;
     
120.   t_up4 = 1500;
     
121.   t_up5 = 1500;
     
122.   t_up6 = 1500;
     
123.   t_up7 = 1500;
     
124.   t_up8 = 1500;
     
125.   t_up9 = 1500;
     
126.   t_up10 = 1500;
     
127.   t_up11 = 1600;
     
128.      while(direc == 3)
     
129.      {
     
130. //抬右腿
     
131.          delayms(250);
     
132.          t_up4 = 1800;
     
133.          delayms(125);
     
134.          t_up5 = 1200;
     
135.          delayms(100);
     
136.          t_up3 = 1000;
     
137.          delayms(100);
     
138.          t_up4 = 1300;
     
139.         
     
140.          t_up9 = 1200;
     
141.          delayms(100);
     
142.          t_up0 = 2000;
     
143.          delayms(50);
     
144.          t_up1 = 1700;
     
145.          delayms(125);
     
146.          t_up6 = 1900;
     
147.          delayms(125);
     
148.          t_up2 = 1700;
     
149.          t_up5 = 1500;
     
150.          delayms(125);
     
151.          t_up2 = 1500;
     
152.          delayms(50);
     
153.          t_up1 = 1500;
     
154. 
     
155. //抬左腿
     
156.          delayms(250);
     
157.          t_up10 = 1200;
     
158.          delayms(125);
     
159.          t_up11 = 1900;
     
160.          delayms(100);
     
161.          t_up9 = 1500;
     
162.          delayms(100);
     
163.          t_up10 = 1700;
     
164.         
     
165.          t_up3 = 1500;
     
166.          delayms(100);
     
167.          t_up6 = 1500;
     
168.          delayms(50);
     
169.          t_up7 = 1300;
     
170.          delayms(100);
     
171.          t_up0 = 1500;
     
172.          delayms(100);
     
173.          t_up8 = 1200;
     
174.          t_up11 = 1600;
     
175.          delayms(100);
     
176.          t_up8 = 1500;
     
177.          delayms(50);
     
178.          t_up7 = 1500;
     
179.      }
     
180. }
     
181. 
     
182. void ymove()       //向右平移
     
183. {
     
184. //调整四脚姿势
     
185.      delayms(250);
     
186.      t_up0 = 1500;
     
187.      t_up1 = 1500;
     
188.   t_up2 = 1500;
     
189.   t_up3 = 1500;
     
190.   t_up4 = 1500;
     
191.   t_up5 = 1500;
     
192.   t_up6 = 2000;
     
193.   t_up7 = 1500;
     
194.   t_up8 = 1500;
     
195.   t_up9 = 1100;
     
196.   t_up10 = 1500;
     
197.   t_up11 = 1600;
     
198.      while(direc == 7)
     
199.      {
     
200. //右边起身
     
201.          delayms(250);
     
202.          t_up2 = 2000;
     
203.          delayms(50);
     
204.          t_up1 = 1800;
     
205.          delayms(50);
     
206.          t_up5 = 1000;
     
207.          delayms(50);
     
208.          t_up4 = 1200;    
     
209. //左边起身
     
210.          delayms(250);
     
211.          t_up7 = 1200;
     
212.          t_up10 = 1800;
     
213.          delayms(50);
     
214. //右边还原
     
215.          t_up1 = 1500;
     
216.          t_up4 = 1500;
     
217.          delayms(50);
     
218.          t_up2 = 1500;
     
219.          t_up5 = 1500;
     
220.          t_up8 = 1200;
     
221.          t_up11 = 1900;
     
222.          delayms(100);
     
223. //左边还原        
     
224.          t_up7 = 1500;
     
225.          t_up10 = 1500;
     
226.          delayms(50);
     
227.          t_up8 = 1500;
     
228.          t_up11 = 1600;
     
229.      }
     
230. }
     
231. 
     
232. void zmove()       //向左平移
     
233. {
     
234. //调整四脚姿势
     
235.      delayms(250);
     
236.      t_up0 = 1500;
     
237.      t_up1 = 1500;
     
238.   t_up2 = 1500;
     
239.   t_up3 = 1500;
     
240.   t_up4 = 1500;
     
241.   t_up5 = 1500;
     
242.   t_up6 = 2000;
     
243.   t_up7 = 1500;
     
244.   t_up8 = 1500;
     
245.   t_up9 = 1100;
     
246.   t_up10 = 1500;
     
247.   t_up11 = 1600;
     
248.      while(direc == 6)
     
249.      {
     
250. //左边起身
     
251.          delayms(250);
     
252.          t_up8 = 1000;
     
253.          delayms(50);
     
254.          t_up7 = 1200;
     
255.          delayms(50);
     
256.          t_up11 = 2100;
     
257.          delayms(50);
     
258.          t_up10 = 1800;    
     
259. //右边起身
     
260.          delayms(250);
     
261.          t_up1 = 1800;
     
262.          t_up4 = 1200;
     
263.          delayms(50);
     
264. //左边还原
     
265.          t_up7 = 1500;
     
266.          t_up10 = 1500;
     
267.          delayms(50);
     
268.          t_up8 = 1500;
     
269.          t_up11 = 1600;
     
270.          t_up2 = 1800;
     
271.          t_up5 = 1200;
     
272.          delayms(100);
     
273. //右边还原    
     
274.          t_up1 = 1500;
     
275.          t_up4 = 1500;
     
276.          delayms(50);
     
277.          t_up2 = 1500;
     
278.          t_up5 = 1500;
     
279.      }
     
280. }
     
281. 
     
282. void right()       //右转
     
283. {
     
284. //调整四脚姿势
     
285.      delayms(250);
     
286.      t_up0 = 1500;
     
287.      t_up1 = 1500;
     
288.   t_up2 = 1500;
     
289.   t_up3 = 1500;
     
290.   t_up4 = 1500;
     
291.   t_up5 = 1500;
     
292.   t_up6 = 1500;
     
293.   t_up7 = 1500;
     
294.   t_up8 = 1500;
     
295.   t_up9 = 1500;
     
296.   t_up10 = 1500;
     
297.   t_up11 = 1600;
     
298.     
     
299.      delayms(250);
     
300.      t_up1 = 1200;
     
301.      delayms(125);
     
302.      t_up0 = 1900;
     
303.      delayms(100);
     
304.      t_up1 = 1500;
     
305.      while(direc == 5)
     
306.      {
     
307.          delayms(200);
     
308.          t_up1 = 1700;
     
309.          delayms(50);
     
310.          t_up2 = 1700;
     
311.          delayms(200);
     
312.          t_up3 = 1100;
     
313.          delayms(100);
     
314.          t_up2 = 1500;
     
315.          delayms(50);
     
316.          t_up1 = 1500;
     
317.          delayms(200);
     
318.          t_up4 = 1400;
     
319.          delayms(50);
     
320.          t_up5 = 1400;
     
321.          delayms(100);
     
322.          t_up0 = 1900;
     
323.          delayms(100);
     
324.          t_up9 = 1100;
     
325.          delayms(100);
     
326.          t_up6 = 1900;
     
327.          delayms(200);
     
328.          t_up5 = 1500;
     
329.          delayms(50);
     
330.          t_up4 = 1500;
     
331.          delayms(200);
     
332.          t_up1 = 1700;
     
333.          delayms(50);
     
334.          t_up2 = 1700;
     
335.          delayms(200);
     
336.          t_up6 = 1500;
     
337.          delayms(200);
     
338.          t_up2 = 1500;
     
339.          delayms(50);
     
340.          t_up1 = 1500;
     
341.          delayms(200);
     
342.          t_up10 = 1600;
     
343.          delayms(100);
     
344.          t_up9 = 1500;
     
345.          delayms(100);
     
346.          t_up10 = 1500;
     
347.          delayms(200);
     
348.          t_up3 = 1500;
     
349.      }
     
350. }
     
351. void left()       //左转
     
352. {
     
353. //调整四脚姿势
     
354.      delayms(250);
     
355.      t_up0 = 1500;
     
356.      t_up1 = 1500;
     
357.   t_up2 = 1500;
     
358.   t_up3 = 1500;
     
359.   t_up4 = 1500;
     
360.   t_up5 = 1500;
     
361.   t_up6 = 1500;
     
362.   t_up7 = 1500;
     
363.   t_up8 = 1500;
     
364.   t_up9 = 1500;
     
365.   t_up10 = 1500;
     
366.   t_up11 = 1600;
     
367.     
     
368.      delayms(250);
     
369.      t_up1 = 1200;
     
370.      delayms(125);
     
371.      t_up0 = 1900;
     
372.      delayms(100);
     
373.      t_up1 = 1500;
     
374.      delayms(200);
     
375.      t_up3 = 1000;
     
376.      while(direc == 4)
     
377.      {
     
378.          delayms(200);
     
379.          t_up1 = 1700;
     
380.          delayms(50);
     
381.          t_up2 = 1700;
     
382.          delayms(200);
     
383.          t_up6 = 2000;  // 1900
     
384.          delayms(200);
     
385.          t_up3 = 1500;
     
386.          delayms(200);
     
387.          t_up9 = 1100;
     
388.          delayms(50);
     
389.          t_up2 = 1500;
     
390.          delayms(200);
     
391.          t_up1 = 1500;
     
392.          delayms(200);
     
393.          t_up6 = 1500;
     
394.          delayms(200);
     
395.          t_up3 = 1100;
     
396.          delayms(200);
     
397.          t_up11 = 1400;
     
398.          delayms(50);
     
399.          t_up9 = 1500;
     
400.          delayms(50);
     
401.          t_up11 = 1600;
     
402.      }
     
403. }
     

复制代码

所有资料51hei提供下载:
避障机器人.rar(63.17 KB, 下载次数: 130)

评分

参与人数 1	黑币 +50	收起理由
admin	+ 50	共享资料的黑币奖励！

查看全部评分

回复

ID:610719发表于 2019-11-1 16:38|显示全部楼层

提问，程序中利用定时器1控制PWM占空比时间，但是楼主的程序中，定时器1在定时器1中断中，这样做的话，当中断中的定时器1溢出时，会不会再次进入定时器中断1，陷入死循环

回复

ID:623518发表于 2019-10-15 23:59来自手机|显示全部楼层

厉害厉害

回复

• 
  ID:516644
  发表于 2020-2-29 19:58
  |
  显示全部楼层
  1206246381 发表于 2019-11-1 16:38
  提问，程序中利用定时器1控制PWM占空比时间，但是楼主的程序中，定时器1在定时器1中断中，这样做的话，当中 ...
  在中断里，只是改变了PWM的输出值，没有死循环
  回复
  checkmgcmn('post_813146')
• 
  ID:203076
  发表于 2020-3-26 16:46
  |
  显示全部楼层
  请问楼主 还有外置电路吗？
  回复
  checkmgcmn('post_827656')
• 
  ID:516644
  发表于 2020-4-5 22:26
  |
  显示全部楼层
  qihemu 发表于 2020-3-26 16:46
  请问楼主 还有外置电路吗？
  只有最小系统和降压电路
  回复
  checkmgcmn('post_833527')

ID:723293发表于 2020-4-6 11:45|显示全部楼层

学习了！！！

回复

ID:216527发表于 2020-4-24 11:03|显示全部楼层

这个不错，正好要做一个玩一下，谢谢！

回复

ID:410464发表于 2020-4-28 09:39|显示全部楼层

这个程序怎么这么熟悉呢？

回复

ID:1003334发表于 2022-4-20 20:03|显示全部楼层

楼主，问一下舵机是不是需要外加电路，我之前做的一个小车没有加电路然后操控舵机会导致蓝牙断开

回复

ID:1077953发表于 2023-5-16 22:01|显示全部楼层

有双足机器人走路都的源程序嘛，求大佬

回复

ID:884711发表于 2024-5-5 09:04|显示全部楼层

路过学习，谢谢分享！

回复

返回列表

手机版|小黑屋|51黑电子论坛|管理员QQ:125739409;技术交流QQ群281945664

Powered by 单片机教程网