绲愬悎鎸夐嵉绋嬪簭锛屾垜鍊戣ō瑷堥€欐ǎ涓€鍊嬪姛鑳界▼搴忥細鎸夋暩瀛楅嵉1锝�9锛屾帶鍒�闆绘杞夐亷1锝�9鍦�锛涢厤鍚堜笂涓嬮嵉鏀硅畩杞夊嫊鏂瑰悜锛屾寜鍚戜笂閸靛悗姝ｅ悜杞�1锝�9鍦�锛屽悜涓嬮嵉鍓囧弽鍚戣綁1锝�9鍦�锛涘乏閸靛浐瀹氭杞�90搴︼紝鍙抽嵉鍥哄畾鍙嶈綁90锛汦sc閸电祩姝㈣綁鍕�銆傞€氶亷閫欏€嬬▼搴忥紝鎴戝€戜篃鍙互閫蹭竴姝ラ珨鏈冨埌濡備綍鐢ㄦ寜閸典締鎺у埗绋嬪簭瀹屾垚寰╅洔鐨勫姛鑳�锛屼互鍙婃帶鍒跺拰鍩�(zh铆)琛屾ā濉婁箣闁撳浣曞崝瑾垮伐浣�锛岃€屼綘鐨勭法绋嬫按骞充篃鍙互鍦ㄩ€欐ǎ鐨勫韪愮反缈掍腑寰楀埌閸涚厜鍜屾彁鍗�銆�

#include

sbitKEY_IN_1=P2^4;

sbitKEY_IN_2=P2^5;

sbitKEY_IN_3=P2^6;

sbitKEY_IN_4=P2^7;

sbitKEY_OUT_1=P2^3;

sbitKEY_OUT_2=P2^2;

sbitKEY_OUT_3=P2^1;

sbitKEY_OUT_4=P2^0;

unsignedcharcodeKeyCodeMap[4][4]={//鐭╅櫍鎸夐嵉绶ㄨ櫉鍒版婧栭嵉鐩ら嵉纰肩殑鏄犲皠琛�

{0x31,0x32,0x33,0x26},//鏁稿瓧閸�1銆佹暩瀛楅嵉2銆佹暩瀛楅嵉3銆佸悜涓婇嵉

{0x34,0x35,0x36,0x25},//鏁稿瓧閸�4銆佹暩瀛楅嵉5銆佹暩瀛楅嵉6銆佸悜宸﹂嵉

{0x37,0x38,0x39,0x28},//鏁稿瓧閸�7銆佹暩瀛楅嵉8銆佹暩瀛楅嵉9銆佸悜涓嬮嵉

{0x30,0x1B,0x0D,0x27}//鏁稿瓧閸�0銆丒SC閸�銆佸洖杌婇嵉銆佸悜鍙抽嵉

};

unsignedcharKeySta[4][4]={//鍏ㄩ儴鐭╅櫍鎸夐嵉鐨勭暥鍓嶇媭鎱�(t脿i)

{1,1,1,1},{1,1,1,1},{1,1,1,1},{1,1,1,1}

};

signedlongbeats=0;//闆绘杞夊嫊绡€(ji茅)鎷嶇附鏁�

voidKeyDriver();

voidmain(){

EA=1;//浣胯兘绺戒腑鏂�

TMOD=0x01;//瑷疆T0鐐烘ā寮�1

TH0=0xFC;//鐐篢0璩﹀垵鍊�0xFC67锛屽畾鏅�1ms

TL0=0x67;

ET0=1;//浣胯兘T0涓柗

TR0=1;//鍟熷嫊T0

while(1){

KeyDriver();//瑾跨敤鎸夐嵉椹呭嫊鍑芥暩

}

}

/*姝ラ€查浕姗熷暉鍕曞嚱鏁�锛宎ngle-闇€杞夐亷鐨勮搴�*/

voidStartMotor(signedlongangle){

//鍦ㄨ▓绠楀墠闂滈枆涓柗锛屽畬鎴愬悗鍐嶆墦闁�锛屼互閬垮厤涓柗鎵撴柗瑷堢畻閬庣▼鑰岄€犳垚閷

EA=0;

beats=(angle*4076)/360;//瀵︽脯鐐�4076鎷嶈綁鍕曚竴鍦�

EA=1;

}

/*姝ラ€查浕姗熷仠姝㈠嚱鏁�*/

voidStopMotor(){

EA=0;

beats=0;

EA=1;

}

/*鎸夐嵉鍕曚綔鍑芥暩锛屾牴鎿氶嵉纰煎煼(zh铆)琛岀浉鎳夌殑鎿嶄綔锛宬eycode-鎸夐嵉閸电⒓*/

voidKeyAction(unsignedcharkeycode){

staticbitdirMotor=0;//闆绘杞夊嫊鏂瑰悜

//鎺у埗闆绘杞夊嫊1-9鍦�

if((keycode>=0x30)&&(keycode<=0x39)){

if(dirMotor==0){

StartMotor(360*(keycode-0x30));

}else{

StartMotor(-360*(keycode-0x30));

}

}elseif(keycode==0x26){//鍚戜笂閸�锛屾帶鍒惰綁鍕曟柟鍚戠偤姝ｈ綁

dirMotor=0;

}elseif(keycode==0x28){//鍚戜笅閸�锛屾帶鍒惰綁鍕曟柟鍚戠偤鍙嶈綁

dirMotor=1;

}elseif(keycode==0x25){//鍚戝乏閸碉紝鍥哄畾姝ｈ綁90搴�

StartMotor(90);

}elseif(keycode==0x27){//鍚戝彸閸�锛屽浐瀹氬弽杞�90搴�

StartMotor(-90);

}elseif(keycode==0x1B){//Esc閸�锛屽仠姝㈣綁鍕�

StopMotor();

}

}

/*鎸夐嵉椹呭嫊鍑芥暩锛屾娓寜閸靛嫊浣�锛岃搴︾浉鎳夊嫊浣滃嚱鏁�锛岄渶鍦ㄤ富寰挵(hu谩n)涓鐢�*/

voidKeyDriver(){

unsignedchari,j;

staticunsignedcharbackup[4][4]={//鎸夐嵉鍊煎倷浠�锛屼繚瀛樺墠涓€娆＄殑鍊�

{1,1,1,1},{1,1,1,1},{1,1,1,1},{1,1,1,1}

};

for(i=0;i<4;i++){//寰挵(hu谩n)妾㈡脯4*4鐨勭煩闄ｆ寜閸�

for(j=0;j<4;j++){

if(backup[i][j]!=KeySta[i][j]){//妾㈡脯鎸夐嵉鍕曚綔

if(backup[i][j]!=0){//鎸夐嵉鎸変笅鏅傚煼(zh铆)琛屽嫊浣�

KeyAction(KeyCodeMap[i][j]);//瑾跨敤鎸夐嵉鍕曚綔鍑芥暩

}

backup[i][j]=KeySta[i][j];//鍒锋柊鍓嶄竴娆＄殑鍌欎唤鍊�

}

}

}

}

/*鎸夐嵉鎺冩弿鍑芥暩锛岄渶鍦ㄥ畾鏅備腑鏂蜂腑瑾跨敤锛屾帹钖﹁鐢ㄩ枔闅�1ms*/

voidKeyScan(){

unsignedchari;

staticunsignedcharkeyout=0;//鐭╅櫍鎸夐嵉鎺冩弿杓稿嚭绱㈠紩

staticunsignedcharkeybuf[4][4]={//鐭╅櫍鎸夐嵉鎺冩弿绶╂矕鍗€(q奴)

{0xFF,0xFF,0xFF,0xFF},{0xFF,0xFF,0xFF,0xFF},

{0xFF,0xFF,0xFF,0xFF},{0xFF,0xFF,0xFF,0xFF}

};

//灏囦竴琛岀殑4鍊嬫寜閸靛€肩Щ鍏ョ珐娌栧崁(q奴)

keybuf[keyout][0]=(keybuf[keyout][0]<<1)|KEY_IN_1;

keybuf[keyout][1]=(keybuf[keyout][1]<<1)|KEY_IN_2;

keybuf[keyout][2]=(keybuf[keyout][2]<<1)|KEY_IN_3;

keybuf[keyout][3]=(keybuf[keyout][3]<<1)|KEY_IN_4;

//娑堟姈鍚庢洿鏂版寜閸电媭鎱�(t脿i)

for(i=0;i<4;i++){//姣忚4鍊嬫寜閸�锛屾墍浠ュ惊鐠�(hu谩n)4娆�

if((keybuf[keyout][i]&0x0F)==0x00){

//閫ｇ簩(x霉)4娆℃巸鎻忓€肩偤0锛屽嵆4*4ms鍏ч兘鏄寜涓嬬媭鎱�(t脿i)鏅傦紝鍙獚鐐烘寜閸靛凡绌�(w臎n)瀹氱殑鎸変笅

KeySta[keyout][i]=0;

}elseif((keybuf[keyout][i]&0x0F)==0x0F){

//閫ｇ簩(x霉)4娆℃巸鎻忓€肩偤1锛屽嵆4*4ms鍏ч兘鏄綀璧风媭鎱�(t脿i)鏅�锛屽彲瑾嶇偤鎸夐嵉宸茬┅(w臎n)瀹氱殑褰堣捣

KeySta[keyout][i]=1;

}

}

//鍩�(zh铆)琛屼笅涓€娆＄殑鎺冩弿杓稿嚭

keyout++;//杓稿嚭绱㈠紩閬炲

keyout=keyout&0x03;//绱㈠紩鍊煎姞鍒�4鍗虫闆�

//鏍规摎绱㈠紩锛岄噵鏀剧暥鍓嶈几鍑哄紩鑵�锛屾媺浣庝笅娆＄殑杓稿嚭寮曡叧

switch(keyout){

case0:KEY_OUT_4=1;KEY_OUT_1=0;break;

case1:KEY_OUT_1=1;KEY_OUT_2=0;break;

case2:KEY_OUT_2=1;KEY_OUT_3=0;break;

case3:KEY_OUT_3=1;KEY_OUT_4=0;break;

default:break;

}

}

/*闆绘杞夊嫊鎺у埗鍑芥暩*/

voidTurnMotor(){

unsignedchartmp;//鑷ㄦ檪璁婇噺

staticunsignedcharindex=0;//绡€(ji茅)鎷嶈几鍑虹储寮�

unsignedcharcodeBeatCode[8]={//姝ラ€查浕姗熺瘈(ji茅)鎷嶅皪鎳夌殑IO鎺у埗浠ｇ⒓

0xE,0xC,0xD,0x9,0xB,0x3,0x7,0x6

};

if(beats!=0){//绡€(ji茅)鎷嶆暩涓嶇偤0鍓囩敘鐢熶竴鍊嬮﹨鍕曠瘈(ji茅)鎷�

if(beats>0){//绡€(ji茅)鎷嶆暩澶т簬0鏅傛杞�

index++;//姝ｈ綁鏅傜瘈(ji茅)鎷嶈几鍑虹储寮曢仦澧�

index=index&0x07;//鐢�&鎿嶄綔瀵︾従鍒�8姝搁浂

beats--;//姝ｈ綁鏅傜瘈(ji茅)鎷嶈▓鏁搁仦娓�

}else{//绡€(ji茅)鎷嶆暩灏忎簬0鏅傚弽杞�

index--;//鍙嶈綁鏅傜瘈(ji茅)鎷嶈几鍑虹储寮曢仦娓�

index=index&0x07;//鐢�&鎿嶄綔鍚屾ǎ鍙互瀵︾従鍒�-1鏅傛7

beats++;//鍙嶈綁鏅傜瘈(ji茅)鎷嶈▓鏁搁仦澧�

}

tmp=P1;//鐢╰mp鎶奝1鍙ｇ暥鍓嶅€兼毇瀛�

tmp=tmp&0xF0;//鐢�&鎿嶄綔娓呴浂浣�4浣�

tmp=tmp|BeatCode[index];//鐢▅鎿嶄綔鎶婄瘈(ji茅)鎷嶄唬纰煎鍒颁綆4浣�

P1=tmp;//鎶婁綆4浣嶇殑绡€(ji茅)鎷嶄唬纰煎拰楂�4浣嶇殑鍘熷€奸€佸洖P1

}else{//绡€(ji茅)鎷嶆暩鐐�0鍓囬棞闁夐浕姗熸墍鏈夌殑鐩�

P1=P1|0x0F;

}

}

/*T0涓柗鏈嶅嫏鍑芥暩锛岀敤浜庢寜閸垫巸鎻忚垏闆绘杞夊嫊鎺у埗*/

voidInterruptTimer0()interrupt1{

staticbitp=0;

TH0=0xFC;//閲嶆柊鍔犺級鍒濆€�

TL0=0x67;

KeyScan();//鍩�(zh铆)琛屾寜閸垫巸鎻�

//鐢ㄤ竴鍊嬮潨鎱�(t脿i)bit璁婇噺瀵︾従浜屽垎闋�锛屽嵆2ms瀹氭檪锛岀敤浜庢帶鍒堕浕姗�

p=~p;

if(p==1){

TurnMotor();

}

}閫欏€嬬▼搴忔槸绗�8绔犲拰鏈珷鐭ヨ瓨鐨勪竴鍊嬬稖鍚堚€斺€旂敤鎸夐嵉鎺у埗姝ラ€查浕姗�杞夊嫊銆傜▼搴忎腑鏈夐€欎箞骞鹃粸鍊煎緱娉ㄦ剰锛屾垜鍊戝垎杩板涓嬶細

閲濆皪闆绘瑕佸畬鎴愭杞夊拰鍙嶈綁鍏╁€嬩笉鍚岀殑鎿嶄綔锛屾垜鍊戝苟娌掓湁浣跨敤姝ｈ綁鍟熷嫊鍑芥暩鍜屽弽杞夊暉鍕曞嚱鏁搁€欎箞鍏╁€嬪嚱鏁镐締瀹屾垚锛屼篃娌掓湁鍦ㄥ暉鍕曞嚱鏁稿畾缇╃殑鏅傚€欏鍔犱竴鍊嬪舰寮忓弮鏁镐締鎸囨槑鍏舵柟鍚�銆傛垜鍊戦€欓噷鐨勫暉鍕曞嚱鏁竩oidStartMotor(signedlongangle)鑸囧柈鍚戞杞夋檪鐨勫暉鍕曞嚱鏁稿敮涓€鐨勫崁(q奴)鍒ュ氨鏄妸褰㈠紡鍙冩暩angle鐨勯鍨嬪緸unsignedlong鏀圭偤浜唖ignedlong锛屾垜鍊戠敤鏈夌铏熸暩鍥烘湁鐨勬璨犵壒鎬т締鍗€(q奴)鍒嗘杞夎垏鍙嶈綁锛屾鏁歌〃绀烘杞塧ngle搴�锛岃矤鏁稿氨琛ㄧず鍙嶈綁angle搴�锛岄€欐ǎ铏曠悊鏄笉鏄緢绨℃綌鍙堝緢鏄庝簡鍛紵鑰屼綘灏嶆湁绗﹁櫉鏁稿拰鐒＄铏熸暩鐨勫崁(q奴)鍒ョ敤娉曟槸涓嶆槸涔熸洿鏈夐珨鏈冧簡锛�

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