单片机控制8路舵机程序+串口通讯上位机程序（C#）：单片机控制8路舵机程序; T1 serial port to high T2 pwm PWMOUT0 BIT P0.0PWMOUT1 BIT P0.1PWMOUT2 BIT P0.2PWMOUT3 BIT P0.3PWMOUT4 BIT P0.4PWMOUT5 BIT P0.5PWMOUT6 BIT P0.6PWMOUT7 BIT P0.7T2CON DATA 0C8HTF2 BIT T2CON.7 EXF2 BIT T2CON.6RCLK BIT T2CON.5TCLK BIT T2CON.4EXEN2 BIT T2CON.3TR2 BIT T2CON.2C_T2 BIT T2CON.1CP_RL2 BIT T2CON.0T2 BIT P1.0T2EX BIT P1.1RCAP2L DATA 0CAHRCAP2H DATA 0CBHTL2 DATA 0CCHTH2 DATA 0CDHET2 BIT IE.5PT2 BIT IP.5////////////////////////////////////////// PWMWID EQU 048H; [16]048H~05FH; First low 8bits then high 8bits channel EQU 032H;pha EQU 033H;////////////////////////////////////////// ORG 0000HLJMP MAINORG 000BHLJMP T0_ISRORG 002BHLJMP T2_ISRORG 0100H MAIN:MOV SP, 60HMOV 96H, #00HMOV 8EH, #00H; InitSETB EA; enable interruptSETB ET2CLR TCLKCLR RCLKMOV SCON, #050H; 8bit serialMOV TL2, #000HMOV TH2, #000HMOV RCAP2L, #03CH; 2.5msMOV RCAP2H, #0F6HCLR TF2SETB TR2CLR ES; disable serial interruptCLR TI; clear serial FLAGMOV TMOD, #21HMOV TH0, #000H; make time for T0_ISR to runCLR TF0SETB ET0CLR TR0MOV TL1,#0F3HMOV TH1,#0F3HSETB TR1CLR AMOV pha,AMOV A, #035HMOV PWMWID+00H, AMOV PWMWID+02H, AMOV PWMWID+04H, AMOV PWMWID+06H, AMOV PWMWID+08H, AMOV PWMWID+0AH, AMOV PWMWID+0CH, AMOV PWMWID+0EH, AMOV A, #0FAHMOV PWMWID+01H, AMOV PWMWID+03H, AMOV PWMWID+05H, AMOV PWMWID+07H, AMOV PWMWID+09H, AMOV PWMWID+0BH, AMOV PWMWID+0DH, AMOV PWMWID+0FH, A; CommunicationCOMMU:JNB RI, COMMUCLR RIMOV channel,SBUFMOV SBUF,channelMOV A,channelJNB ACC.7, COMMUJB ACC.6, COMMUJNB RI, $ANL channel, #07FHMOV A, #PWMWIDADD A, channelADD A, channelMOV R0, AMOV R1, SBUFCLR CMOV A, #0FFHSUBB A, R1; ADDC A, #12HMOV SBUF, AMOV @R0, ACLR RIJNB RI, $MOV R1, SBUFMOV A, #0FFHSUBB A, R1INC R0MOV SBUF, AMOV @R0, ACLR RISJMP COMMUT0_ISR:PUSH ACCCLR TR0MOV A,phaRL AMOV DPTR, #TABLEJMP @A+DPTR TABLE:SJMP S0SJMP S1SJMP S2SJMP S3SJMP S4SJMP S5SJMP S6SJMP S7S0:CLR PWMOUT0POP ACCRETIS1:CLR PWMOUT1POP ACCRETIS2:CLR PWMOUT2POP ACCRETIS3:CLR PWMOUT3POP ACCRETIS4:CLR PWMOUT4POP ACCRETIS5:CLR PWMOUT5POP ACCRETIS6:CLR PWMOUT6POP ACCRETIS7:CLR PWMOUT7POP ACCRETIT2_ISR:CLR TF2PUSH ACCINC phaANL pha, #07HMOV A,phaRL AMOV DPTR,#TABLE2JMP @A+DPTRTABLE2:SJMP SS0SJMP SS1SJMP SS2SJMP SS3SJMP SS4SJMP SS5SJMP SS6SJMP SS7SS0:MOV TH0,PWMWID+01HMOV TL0,PWMWID+00HSETB PWMOUT0SETB TR0POP ACCRETISS1:MOV TH0,PWMWID+03HMOV TL0,PWMWID+02HSETB PWMOUT1SETB TR0POP ACCRETISS2:MOV TH0,PWMWID+05HMOV TL0,PWMWID+04HSETB PWMOUT2SETB TR0POP ACCRETISS3:MOV TH0,PWMWID+07HMOV TL0,PWMWID+06HSETB PWMOUT3SETB TR0POP ACCRETISS4:MOV TH0, PWMWID+09HMOV TL0, PWMWID+08HSETB PWMOUT4SETB TR0POP ACCRETISS5:MOV TH0, PWMWID+0BHMOV TL0, PWMWID+0AHSETB PWMOUT5SETB TR0POP ACCRETISS6:MOV TH0, PWMWID+0DHMOV TL0, PWMWID+0CHSETB PWMOUT6SETB TR0POP ACCRETISS7:MOV TH0,PWMWID+0FHMOV TL0,PWMWID+0EHSETB PWMOUT7SETB TR0POP ACCRETIEND串口通讯上位机程序（C#）：using System;using System.Collections.Generic; using ponentModel; using System.Drawing; using System.Text;using System.Windows.Forms; namespace Cois {public partial class Cois : Form {private byte [] P = new byte [4]; private byte checker; public Cois() {InitializeComponent(); }private void Form1_Loa d(object sender, EventArgs e) { init(); }private void Message(){ throw new NotImplementedException (); }private void init() {GetPortName(); this .CBx_baud.Text =global ::Cois.Properties.Settings .Default.BaudRate; }private void GetPortName() {string [] portNames = System.IO.Ports.SerialPort .GetPortNames(); CBx_port.Items.Clear();foreach (string name in portNames) { CBx_port.Items.Add(name); }if (!CBx_port.Items.Contains(CBx_port.Text)) { try {this .CBx_port.Text = (string )CBx_port.Items[0]; } catch {this .CBx_port.Text =global ::Cois.Properties.Settings .Default.PortName; } } }private void CBx_port_SelectedIndexChanged(object sender, EventArgs e) {serialPort.PortName = CBx_port.Text; }private void CBx_baud_SelectedIndexChanged(object sender, EventArgs e) {serialPort.BaudRate =Convert .ToInt32( CBx_baud.Text);}private void write(int number){ byte[] CMD = new byte[3];CMD[0] = (byte)number;CMD[0] |= (byte)0x80;switch(number){case 0: CMD[1] = (byte) ((Servo0.Value+17)%256);CMD[2] = (byte)((Servo0.Value +17)/ 256);serialPort.Write(CMD, 0, 3);break;case 1: CMD[1] = (byte)((Servo1.Value+17)%256);CMD[2] = (byte)((Servo1.Value+17) / 256);serialPort.Write(CMD, 0, 3);break;case 2: CMD[1] = (byte)((Servo2.Value+17)%256);CMD[2] = (byte)((Servo2.Value +17)/ 256);serialPort.Write(CMD, 0, 3);break;case 3: CMD[1] = (byte)((Servo3.Value+17)%256);CMD[2] = (byte)((Servo3.Value+17) / 256);serialPort.Write(CMD, 0, 3);break;case 4: CMD[1] = (byte)((Servo4.Value+17)%256);CMD[2] = (byte)((Servo4.Value+17) / 256);serialPort.Write(CMD, 0, 3);break;case 5: CMD[1] = (byte)((Servo5.Value+17)%256);CMD[2] = (byte)((Servo5.Value+17) / 256);serialPort.Write(CMD, 0, 3);break;case 6: CMD[1] = (byte)((Servo6.Value+17)%256);CMD[2] = (byte)((Servo6.Value+17) / 256);serialPort.Write(CMD, 0, 3);break;case 7: CMD[1] = (byte)((Servo7.Value+17)%256);CMD[2] = (byte)((Servo7.Value+17) / 256);serialPort.Write(CMD, 0, 3);break;}}private void Btn_connect_Click(object sender, EventArgs e) {if (serialPort.IsOpen){ Btn_connect.Text = "Unconnected";Btn_connect.CheckState =System.Windows.Forms.CheckState.Unchecked;serialPort.Close();}else{ try{ serialPort.Open();}catch{ Btn_connect.CheckState =System.Windows.Forms.CheckState.Unchecked;}if (serialPort.IsOpen){ Btn_connect.Text = "Connected";Btn_connect.CheckState =System.Windows.Forms.CheckState.Checked;write(0);write(1);write(2);write(3);write(4);write(5);write(6);write(7);}}}private void CBx_port_DropDown(object sender, EventArgs e) {GetPortName();}private void Servo0_MouseUp(object sender, MouseEventArgs e) { //if (serialPort.IsOpen) write(0);}private void Servo1_MouseUp(object sender, MouseEventArgs e) { //if (serialPort.IsOpen) write(1);}private void Servo2_MouseUp(object sender, MouseEventArgs e) { //if (serialPort.IsOpen) write(2);}private void Servo3_MouseUp(object sender, MouseEventArgs e) { //if (serialPort.IsOpen) write(3);}private void Servo4_MouseUp(object sender, MouseEventArgs e) { //if (serialPort.IsOpen) write(4);}private void Servo5_MouseUp(object sender, MouseEventArgs e) { //if (serialPort.IsOpen) write(5); }private void Servo6_MouseUp(object sender, MouseEventArgs e) { //if (serialPort.IsOpen) write(6); }private void Servo7_MouseUp(object sender, MouseEventArgs e) { //if (serialPort.IsOpen) write(7); }private void Servo0_Scroll(object sender, EventArgs e){ textBox1.Text = Servo0.Value.ToString();if (serialPort.IsOpen) write(0); } private void Servo1_Scroll(object sender, EventArgs e) { if (serialPort.IsOpen) write(1); }private void Servo2_Scroll(object sender, EventArgs e) { if (serialPort.IsOpen) write(2); }private void Servo3_Scroll(object sender, EventArgs e){ if (serialPort.IsOpen) write(3); }private void Servo4_Scroll(object sender, EventArgs e) { if (seria lPort.IsOpen) write(4); }private void Servo5_Scroll(object sender, EventArgs e) { if (serialPort.IsOpen) write(5); }private void Servo6_Scroll(object sender, EventArgs e) { if (serialPort.IsOpen) write(6); }private void Servo7_Scroll(object sender, EventArgs e) { if (serialPort.IsOpen) write(7); }}}。
