PWM调节问题

展缓ZvN4e · 发表于 2018-7-24 18:20:59

PWM调速后，小车黑线寻迹两个电机一起开动时调速起到作用，一个电机开动时未起到调速作用。
请问大家这是什么原因？附上程序源码.

track.h
#ifndef __congig_H__
#define __config_H__

sbit IN1 = P1^2; //为1 左电机反转
sbit IN2 = P1^3; //为1 左电机正转
sbit IN3 = P1^6; //为1 右电机正转
sbit IN4 = P1^7; //为1 右电机反转
sbit EN1 = P1^4; //为1 左电机使能
sbit EN2 = P1^5; //为1 右电机使能

sbit left_led = P3^4;
sbit right_led = P3^2;

#define  left_motor_en    EN1 = 1
#define    right_motor_en    EN2 = 1
#define    left_motor_back IN1 = 1;IN2 = 0
#define    left_motor_go    IN1 = 0;IN2 = 1
#define    right_motor_go    IN3 = 1;IN4 = 0
#define  right_motor_back IN3 = 0;IN4 = 1
#define  left_motor_stop EN1 = 0
#define    right_motor_stop EN2 = 0

#define  unit  unsigned int
#define  uchar unsigned char

#endif

track.c
#include <reg52.h>//包含51头文件
#include <track.h>

uchar pwm_left_val = 200;
uchar pwm_right_val = 200;
uchar pwm_t;

void timer0()  interrupt 1
{
pwm_t++;
if(pwm_t == 255)
pwm_t = EN1 = EN2 = 0;
if(pwm_left_val == pwm_t)
EN1 = 1;
if(pwm_right_val == pwm_t)
EN2 = 1;
}

void forward()
{
left_motor_go;
right_motor_go;
}

void left_run()
{
left_motor_stop;
right_motor_en;
right_motor_go;
}

void right_run()
{
right_motor_stop;
left_motor_en;
left_motor_go;
}

void main()
{
TMOD = 0x02;
TH0 = 220;
TL0 = 220;
TR0 = 1;
ET0 = 1;
EA = 1;
while(1)
{
if(right_led == 0&&left_led == 0)
forward();
if(right_led == 0&&left_led == 1)
left_run();
if(right_led == 1&&left_led == 0)
right_run();
}

}

pcbzy · 发表于 2018-7-24 18:21:00

本帖最后由 pcbzy 于 2018-8-6 12:09 编辑

这样吧，建议先不用定时器部分，直接在主函数中调速其中一个电机，如:
void main(void)
{    unsigned int i=20,j=10;
   while(1)
   {
         i+=10;
         if(i>255)
         {
                  i=20;
         }
         j=100;
         while(j--)
         {
            delay(i);             //启动电机
            delay(255-i);
            //失能电机
         }
   }
}