51單片機IO模擬PWM控制舵機轉(zhuǎn)向

#include
#define uint unsigned int

void drive();
void delay(uint);

sbit pwm=P2^0;

uint set; //set為舵機轉(zhuǎn)角標志位
unsigned char angle;//angle為舵機PWM變化打角

void Time0_Init() //中斷初始化
{
TMOD=0X01;
IE=0X82;
TH0=(65536-58)/256;
TL0=(65536-58)%6;
TR0=1;
}

void main()//主函數(shù)
{
set=0;
angle=23; // 改變angle的值可以改變舵機的占空比

Time0_Init();

for(;;)
{
drive();
}
}

void drive() //電機驅(qū)動例程，改變占空比
{

angle=12;
delay(800);

angle=52;
delay(800);

angle=135;
delay(800);
}

void delay(uint x)
{
uint i,j;
for(i=x;i>0;i--)
for(j=110;j>0;j--);
}

void T0_time()interrupt 1 //100HZ,10MS
{

TH0=(65536-58)/256;
TL0=(65536-58)%6;

if(set pwm=1;
else
pwm=0;
set++;
if(set>385) set=0; //舵機占空比

}