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經(jīng)過幾天的鉆研和調(diào)試，終于在51單片機(jī)上實(shí)現(xiàn)了二軸聯(lián)動(dòng)，通過調(diào)用line(x1,y1,x2,y2,v)函數(shù)以及cytu（x1,y1,x2,a,b,r,v）和cyao（x1,y1,x2,a,b,r,v）三個(gè)命令便可實(shí)現(xiàn)任意圓弧和直線的插補(bǔ)，注意任意二字，比如直線命令，可以是水平線可以是豎直線，可以是從左往右也可從右往左，可以當(dāng)做一個(gè)繪圖儀使用，如果愿意進(jìn)一步升級，簡單修改加個(gè)Z軸做成數(shù)控銑床的控制器亦未嘗不可。下面是整個(gè)源程序，有興趣的可以參考參考。
#include <REG51.h>
#include <FLOAT.h>
#include <MATH.h>
sbit mai0=P1^0;
sbit mai1=P1^1;
sbit shuru=P0^0;
sbit dir0=P1^6;
sbit dir1=P1^7;
void delay(unsigned int t){
unsigned int g;
while(t!=0){
for(g=0;g++;g<600);
t--;
}
}
void mc_p0(signed long m0,unsigned int n0)
{if(m0<0){
m0=-m0;
dir0=1;
}
else{dir0=0;}
while(m0--!=0){
mai0=0;
delay(n0/2);
mai0=1;
delay(n0/2);
}
}
void mc_p1(signed long m1,unsigned int n1)
{if(m1<0){
m1=-m1;
dir1=1;
}
else{dir1=0;}
while(m1--!=0){mai1=0;
delay(n1/2);
mai1=1;
delay(n1/2);
}
}
void line(float x0,float y0,float x1,float y1,unsigned int v0){
float k=0;
float x=0;
float y=0;
float ys=0;
signed long yc=0;
x=x0;
ys=y0;
k=(y1-y0)/(x1-x0);
if(x0==x1){
mc_p1((y1-y0)*2,50000/v0);}
if(y0==y1){
mc_p0((x1-x0)*2,50000/v0);}
if((x0!=x1)&&(y0!=y1)){
if(x0<x1){ while(x<x1){
mc_p0(2,50000/v0);
x=x+1;
y=k*(x-x1)+y1;
yc=y-ys;
ys=y;
mc_p1(yc*2,50000/v0);
}
}
if(x0>x1){ while(x>x1){
mc_p0(-2,50000/v0);
x=x-1;
y=k*(x-x1)+y1;
yc=y-ys;
ys=y;
mc_p1(yc*2,50000/v0);
}
}
}
}
void cytu(float x3,float y3,float x4,float a1,float b1,
float r1,unsigned int v1){
float xx;
float yy;
float yys;
signed int yyc;
xx=x3;
yys=y3;
if(x3<x4){
while(xx<x4){
mc_p0(2,50000/v1);
xx=xx+1;
yy=b1+sqrt(r1*r1-(xx-a1)*(xx-a1));
yyc=yy-yys;
yys=yy;
mc_p1(yyc*2,50000/v1);
}
}
if(x3>x4){
while(xx>x4){
mc_p0(-2,50000/v1);
xx=xx-1;
yy=b1+sqrt(r1*r1-(xx-a1)*(xx-a1));
yyc=yy-yys;
yys=yy;
mc_p1(yyc*2,50000/v1);
}
}
}
void cyao(float x5,float y5,float x6,float a2,float b2,
float r2,unsigned int v2){
float xxx;
float yyy;
float yyys;
signed int yyyc;
xxx=x5;
yyys=y5;
if(x5<x6){
while(xxx<x6){
mc_p0(2,50000/v2);
xxx=xxx+1;
yyy=b2-sqrt(r2*r2-(xxx-a2)*(xxx-a2));
yyyc=yyy-yyys;
yyys=yyy;
mc_p1(yyyc*2,50000/v2);
}
}
if(x5>x6){
while(xxx>x6){
mc_p0(-2,50000/v2);
xxx=xxx-1;
yyy=b2-sqrt(r2*r2-(xxx-a2)*(xxx-a2));
yyyc=yyy-yyys;
yyys=yyy;
mc_p1(yyyc*2,50000/v2);
}
}
}
void main (void){
while(1){
while(shuru==0){
line(0,0,10,10,5); //直線命令，調(diào)用格式line(起點(diǎn)坐標(biāo)x1,y1,終點(diǎn)坐標(biāo)x2,y2,速度v)
delay(100000); //延時(shí)
line(10,10,0,0,5);
delay(100000);
line(0,0,-20,0,5);
delay(60000);
cytu(-20,0,20,0,0,20,5); //位于本身圓心上面的圓弧命令，調(diào)用格式cytu(起點(diǎn)x1,y1,終點(diǎn)x2,圓心a,b,半徑r，速度v)
delay(60000);
cyao(20,0,60,40,0,20,5); //位于本身圓心下面的圓弧命令，調(diào)用格式cyao(起點(diǎn)x1,y1,終點(diǎn)x2,圓心a,b,半徑r，速度v)
delay(60000);
cytu(60,0,20,40,0,20,5);
delay(60000);
cyao(20,0,-20,0,0,20,5); }
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