智能控制电机

#include <reg52.h>
#include "sound.h"
#include "LED.h"
#include "moto.h"
#include "IT0.h"

static int normal_speed = 2; //标准速度


static char speed=0,now_speed=0; //保存原速度

static int num=0,num1,num2 ,moto_mian_i;

/*速度自动调整对照表*/
char speed_table1[]={0,1,2,3,4,5,6,7,8,};
char speed_table2[]={0,-1,-2,-3,-4,-5,-6,-7,-8,};

void moto_seed_table0()
{
    if(normal_speed > speed) //水滴速度过慢，电机正转

    {
        now_speed = speed_table1[normal_speed - speed];
        LED1_display(now_speed);        /*显示要调整的速度*/

        /*重新设置电机转动角度*/
        moto_begin = moto_qu_j = 0;
        moto_qu_k = 0;
        moto_qu_kk = moto_qu_one * (now_speed);

    }

    if(normal_speed < speed)    //水滴速度过快，电机反转

    {
        now_speed = speed_table2[speed - normal_speed];
        LED1_display(-now_speed);

        moto_begin = moto_qu_j = 4;
        moto_qu_k = 0;
        moto_qu_kk = moto_qu_one * (-now_speed);
    }
}

void moto_seed(void)
{
        moto_seed_table0();

        moto_dispose(now_speed); //设置速度


}


/*速度计算*/
void IT0_done()
{
    speed = num/1;         //计算速度


    moto_seed_table0();    //设置速度


    num1 = num/10;    //分离出十位

    num2 = num%10;

    num = 0;            //计算清0

}

void main()
 {
    init_IT0(2);    //设置彩样周期


    IT0=1;
    EX0=1;

    while(1)
    {

            if(normal_speed!=speed)    moto_seed();

        /*防止误计数保持一定间隔时间（水滴的最大速度）*/
        for(moto_mian_i=100;moto_mian_i>0;moto_mian_i--)
        {
            EX0=0;
            LED2_display(num1,num2);
        }

        EX0=1;

    }

 }

 void Int0()    interrupt 0    //采样处理函数

{

    EX0=0;                 //防止连续计数


    sound();        //发出声音、同时起延时作用


    num ++;        //保存计数值


    EX0=1;

}