步进电机速度调节问题，写了两天程序有点问题，高手帮忙解决一下啊
启动加速过程基本上解决，但是速度调节上有点问题，加减调解不了#include<reg51.h>
#define uchar unsigned char
#define uint unsigned int
uchar code FFW={0x01,0x03,0x02,0x06,0x04,0x0c,0x08,0x09};//转动数组
uchar code REV={0xf9,0xf8,0xfc,0xf4,0xf6,0xf2,0xf3,0xf1};
uchar ffw_down,rev_down,speed_up_down,speed_down_down,stop_down;
uchar ffw_flag,rev_flag,speed_up_flag,speed_down_flag,stop_flag;//变量定义
int i,j,pp,ss,ttt,SET;
int TT = 30;
int kk = 20;
sbit ffw_moto = P3^4; //正转
sbit rev_moto = P3^5; //反转
sbit speed_up = P3^6; //加速
sbit speed_down = P3^7; //减速
sbit stop_moto = P3^2; //停止
/****************按键延迟函数**********/
void delay(int tt)
{
uchar a,b;
for(a = tt;a > 0;a --)
for(b = 0;b < 120;b ++);
}
/*************中断初始化***************/
void timer0_init(void)
{
SET = 2000;
TMOD = 0x01;
TR0 = 0;
TH0=(65535 - SET) / 256;
TL0=(65535 - SET) % 256;
TR0 = 1;
ET0 = 1;
EA=1;
}
/***************按键扫描****************/
void key_scan(void)
{
if(ffw_moto == 0)
{
delay(10);
if(ffw_moto == 0) ffw_down = 1;
if((ffw_down == 1)&&(ffw_moto == 1))
{
ffw_down = 0;
ffw_flag = 1;
rev_flag =0;
stop_flag = 0;
}
}
if(rev_moto == 0)
{
delay(10);
if(rev_moto == 0)rev_down = 1;
if((rev_down == 1)&&(rev_moto == 1))
{
rev_down = 0;
rev_flag = 1;
ffw_flag = 0;
stop_flag = 0;
}
}
if(speed_up == 0)
{
delay(10);
if(speed_up == 0) speed_up_down = 1;
if((speed_up_down == 1)&&(speed_up == 1))
{
speed_up_down = 0;
speed_up_flag = 1;
speed_down_flag = 0;
stop_flag = 0;
}
}
if(speed_down == 0)
{
delay(10);
if(speed_down == 0)speed_down_down = 1;
if((speed_down_down == 1) && (speed_down == 1))
{
speed_down_down = 0;
speed_down_flag = 1;
speed_up_flag = 0;
stop_flag = 0;
}
}
if(stop_moto == 0)
{
delay(10);
if(stop_moto == 0) stop_down = 1;
if((stop_down == 1)&&(stop_moto == 1))
{
stop_down = 0;
stop_flag = 1;
ffw_flag = 0;
rev_flag = 0;
speed_up_flag = 0;
speed_down_flag = 0;
}
}
}
/*****************按键处理函数******************/
void key_chuli(void)
{
key_scan();
if(speed_down_flag == 1) // 加速按键变量处理
{
kk = kk - 1;
if(kk < 1) kk = 1;
}
if(speed_up_flag == 1) //减速按键变量处理
{
kk = kk + 1;
if(kk > 100)kk = 100;
}
if(stop_flag == 1) // 停止按键处理
{
P1 = 0x00;
}
}
void timer0_isr(void) interrupt 1
{
TR0 = 0;
ET0 = 0;
TH0=(65535-SET)/256;
TL0=(65535-SET)%256;
TR0 = 1;
ET0 = 1;
/*************** 电机转动速度调节*********************/
ss ++;
if(ss >= kk)
{
ss = 0;
/******************启动加速阶段处理*********************/
ttt --;
if(ttt <= 1)
{
if(j < TT)
{
j++;
ttt = TT - j;
}
else
j = TT;
if(ttt <= 1) ttt = 0;
/*****************电机正向反向转动控制**********************/
if(ffw_flag == 1)
{
P1 = FFW;//正转数组
i++;
if(i >= 8)i = 0;
}
if(rev_flag == 1)
{
P1 = REV; // 反转数组
i++;
if(i >= 8)i = 0;
}
}
}
}
void main(void)
{
ttt = TT;
timer0_init();
while(1)
{
key_chuli();
}
}
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