STC8H8K32U工控板 电机正反转

本文摘要 该代码实现了一个基于STC8H单片机的自动化控制系统主要功能包括 通过I2C接口驱动OLED显示屏显示quot;气缸前进/后退quot;、quot;电机前进/停止quot;等状态信息 控制4路气缸(前/后气缸的进/退)和2路电机(前/后电机)的动作 采用按键检测机制实现自动运行控制包含防抖处理 系统具有自动运行模式按预设流程控制气缸和电机顺序动作 包含多种状态显示功能通过自定义字库显示中文状态信息 系统通过多个IO口检测限位开关状态实现精确的位置控制并具备手动操作和自动运/******************************************/#include stc8h.h //包含此头文件后不需要再包含reg51.h头文件#include stdio.h#include intrins.h#define high 1#define low 0#define OPEN 1#define OFF 0typedef unsigned char u8;typedef unsigned int u16;typedef unsigned long u32;sbit OLED_SCLP2^7; //sbit OLED_SDAP2^6; //sbit OUT_AP6^0; //sbit OUT_BP6^1; //sbit OUT_CP6^2; //sbit OUT_DP6^3; //sbit Motora_In1P1^0; // 电机前信号sbit Motora_In2P1^1; // 电机前信号sbit Motorb_In1P1^4; // 电机后信号sbit Motorb_In2P1^5; // 电机后信号sbit INT_1P3^2; // 自动启动sbit INT_2P3^3; // 开模信号sbit INT_3P3^4; // 机械手到位sbit INT_4P3^5; // 气缸前到位sbit INT_5P3^6; // 气缸后到位sbit INT_6P3^7; // 气缸前退停sbit INT_7P4^1; // 气缸后退停sbit INT_8P4^2; // 电机前到位sbit INT_9P4^3; // 电机后到位sbit INT_10P4^4; // 电机前退停sbit INT_11P2^0; // 电机后退停sbit INT_12P2^1; // 手动气缸进sbit INT_13P2^2; // 手动气缸退sbit INT_14P2^3; // 手动电机进sbit INT_15P2^4; // 手动电机退sbit INT_16P2^5; ////输入信号sbit OUT_1P0^6; // 前气缸进sbit OUT_2P0^4; // 前气缸退sbit OUT_3P0^3; // 后气缸进sbit OUT_4P0^2; // 后气缸退sbit OUT_5P0^1; //sbit OUT_6P0^0; //sbit OUT_7P4^6; // 警报sbit OUT_8P4^5; // 动作完成//输出信号sbit KEY_1P0^5; //sbit KEY_2P4^7; //sbit KEY_3P1^6; //sbit KEY_4P1^7; //sbit KEY_5P1^3; //sbit KEY_6P5^4; //sbit KEY_7P4^0; //sbit KEY_8P0^7; ////按键u8 Counter; //步进计数器u8 kcounter,kstatus; //按键计数标志 按键状态标志bit Auto_Flag;bit Cylinder_11,Cylinder_21; //气缸进标志位bit Motor_11,Motor_21; //电机进标志位#define MAIN_Fosc 24000000ULu8 code show1[]{0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,/*0,0*/0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,/*1,1*/0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,/*2,2*/0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,/*3,3*/0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,/*4,4*/0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,/*5,5*/0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,/*6,6*/0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,/*7,7*/0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,/*8,8*/0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,/*9,9*/0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x1F,0x01,0x01,0x01,0x01,0x1F,0x00,/*A,10*/0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,/*D,11*/0x08,0xF8,0x00,0xF8,0x00,0xF8,0x08,0x00,0x00,0x03,0x3E,0x01,0x3E,0x03,0x00,0x00,/*W,12*/0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,/*O,13*/0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,/*N,14*/};u8 code show2[]{0x08,0x08,0x08,0x08,0x88,0x78,0x0F,0x08,0x08,0x08,0x08,0x08,0x08,0x08,0x08,0x00,0x20,0x10,0x48,0x46,0x41,0x41,0x41,0x41,0x7F,0x41,0x41,0x41,0x41,0x40,0x40,0x00,/*左,0*/0x08,0x08,0x08,0x08,0xC8,0x38,0x0F,0x08,0x08,0x08,0x08,0x08,0x08,0x08,0x08,0x00,0x08,0x04,0x02,0x01,0xFF,0x41,0x41,0x41,0x41,0x41,0x41,0x41,0xFF,0x00,0x00,0x00,/*右,1*/0x80,0x60,0xF8,0x07,0x00,0x04,0x74,0x54,0x55,0x56,0x54,0x54,0x74,0x04,0x00,0x00,0x00,0x00,0xFF,0x00,0x03,0x01,0x05,0x45,0x85,0x7D,0x05,0x05,0x05,0x01,0x03,0x00,/*停,2*/0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0xFF,0x40,0x40,0x40,0x40,0x40,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x40,0x40,0x40,0x7F,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,/*止,3*/0x00,0x00,0x00,0xFC,0x44,0x44,0x44,0x45,0x46,0x44,0x44,0x44,0x44,0x7C,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0xFC,0x44,0x44,0x44,0x44,0x44,0x44,0x44,0xFC,0x00,0x00,/*启,4*/0x40,0x44,0xC4,0x44,0x44,0x44,0x40,0x10,0x10,0xFF,0x10,0x10,0x10,0xF0,0x00,0x00,0x10,0x3C,0x13,0x10,0x14,0xB8,0x40,0x30,0x0E,0x01,0x40,0x80,0x40,0x3F,0x00,0x00,/*动,5*/0x00,0x04,0x84,0x84,0x94,0xE4,0x85,0x86,0x84,0xC4,0xB4,0x84,0x84,0x84,0x80,0x00,0x80,0x60,0x1F,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,/*产,6*/0x20,0x20,0x20,0xBE,0xAA,0xAA,0xAA,0xAA,0xAA,0xAA,0xAA,0xBE,0x20,0x20,0x20,0x00,0x00,0x80,0x80,0xAF,0xAA,0xAA,0xAA,0xFF,0xAA,0xAA,0xAA,0xAF,0x80,0x80,0x00,0x00,/*量,7*/0x40,0x40,0x42,0xCC,0x00,0x80,0x88,0x88,0xFF,0x88,0x88,0xFF,0x88,0x88,0x80,0x00,0x00,0x40,0x20,0x1F,0x20,0x40,0x50,0x4C,0x43,0x40,0x40,0x5F,0x40,0x40,0x40,0x00,/*进,8*/0x40,0x40,0x42,0xCC,0x00,0x00,0xFF,0x49,0x49,0xC9,0x49,0x49,0x7F,0x80,0x00,0x00,0x00,0x40,0x20,0x1F,0x20,0x40,0x5F,0x48,0x44,0x40,0x41,0x42,0x45,0x58,0x40,0x00,/*退,9*/0x00,0x00,0x04,0x04,0x04,0x04,0xFC,0x04,0x04,0x04,0x04,0x04,0xFC,0x00,0x00,0x00,0x00,0x80,0x40,0x20,0x18,0x06,0x01,0x00,0x00,0x40,0x80,0x40,0x3F,0x00,0x00,0x00,/*刀,10*/0x00,0x10,0x88,0xC4,0x33,0x40,0x48,0x48,0x48,0x7F,0x48,0xC8,0x48,0x48,0x40,0x00,0x02,0x01,0x00,0xFF,0x00,0x02,0x0A,0x32,0x02,0x42,0x82,0x7F,0x02,0x02,0x02,0x00,/*待,11*/0x10,0x10,0xD0,0xFF,0x90,0x10,0x00,0xFE,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x04,0x03,0x00,0xFF,0x00,0x83,0x60,0x1F,0x00,0x00,0x00,0x3F,0x40,0x40,0x78,0x00,/*机,12*/0x20,0x10,0x4C,0x47,0x54,0x54,0x54,0x54,0x54,0x54,0x54,0xD4,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x0F,0x30,0x40,0xF0,0x00,/*气,13*/0x50,0x48,0x47,0x44,0xFC,0x44,0x44,0x44,0x00,0x04,0x04,0xFC,0x04,0x04,0x04,0x00,0x00,0x3E,0x20,0x20,0x3F,0x10,0x10,0x7E,0x20,0x20,0x20,0x3F,0x20,0x20,0x20,0x00,/*缸,14*/0x80,0x80,0x88,0x88,0x88,0x88,0x88,0xFF,0x88,0x88,0x88,0x88,0x88,0x80,0x80,0x00,0x20,0x20,0x10,0x08,0x04,0x02,0x01,0xFF,0x01,0x02,0x04,0x08,0x10,0x20,0x20,0x00,/*未,15*/0x08,0x08,0xE8,0x29,0x2E,0x28,0xE8,0x08,0x08,0xC8,0x0C,0x0B,0xE8,0x08,0x08,0x00,0x00,0x00,0xFF,0x09,0x49,0x89,0x7F,0x00,0x00,0x0F,0x40,0x80,0x7F,0x00,0x00,0x00,/*前,16*/0x00,0x00,0x00,0xFC,0x24,0x24,0x24,0x24,0x22,0x22,0x22,0x23,0x22,0x20,0x20,0x00,0x40,0x20,0x18,0x07,0x00,0xFE,0x42,0x42,0x42,0x42,0x42,0x42,0xFE,0x00,0x00,0x00,/*后,17*/0x00,0x00,0xF8,0x88,0x88,0x88,0x88,0xFF,0x88,0x88,0x88,0x88,0xF8,0x00,0x00,0x00,0x00,0x00,0x1F,0x08,0x08,0x08,0x08,0x7F,0x88,0x88,0x88,0x88,0x9F,0x80,0xF0,0x00,/*电,18*/};//void delay_ms(u8 ms){u16 i;do{iMAIN_Fosc/1000;while(--i);}while(--ms);}/************按键计数器状态寄存器归零************/void key_reset(){kcounter0; //计数器归零kstatus0; //状态计数器归零}/************按键计数器状态寄存器加一************/void Key_ValAdd(){kcounter; //按键计数器加一kstatus; //按键状态标志加一}/***********按键计数器加一状态寄存器归零*********/void Key_Clear(){kcounter; //按键计数器加一kstatus0; //按键状态标志归零}/*************Pin Define***************/void Oled_delay(u16 ms){u16 i,j;for(i0;ims;i)for(j0;j20;j);}/*************Pin Define***************/void Initial_LY096BG30();void Delay_50ms(u16 Del_50ms);void fill_picture(u8 fill_Data);void IIC_Start();void IIC_Stop();void Write_IIC_Command(u8 IIC_Command);void Write_IIC_Data(u8 IIC_Data);bit Write_IIC_Byte(u8 IIC_Byte);/*******************IIC Start******************/void IIC_Start(){OLED_SCLhigh;Oled_delay(2);OLED_SDAhigh;Oled_delay(2);OLED_SDAlow;Oled_delay(2);OLED_SCLlow;}/*************IIC Stop*************************/void IIC_Stop(){OLED_SDAlow;Oled_delay(2);OLED_SCLhigh;Oled_delay(2);OLED_SDAhigh;}/*****************IIC Write byte***************/bit Write_IIC_Byte(u8 IIC_Byte){unsigned char i;bit Ack_Bit; //应答信号for(i0;i8;i){if(IIC_Byte 0x80) //1?0?OLED_SDAhigh;elseOLED_SDAlow;OLED_SCLhigh;Oled_delay(2);OLED_SCLlow;IIC_Byte1; //loop}OLED_SDAhigh; //释放IIC SDA总线为主器件接收从器件产生应答信号Oled_delay(2);OLED_SCLhigh; //第9个时钟周期Oled_delay(2);Ack_BitOLED_SDA; //读取应答信号OLED_SCLlow;return Ack_Bit;}/*************IIC Write Command*****************/void Write_IIC_Command(u8 IIC_Command){IIC_Start();Write_IIC_Byte(0x78); //Slave address,SA00Write_IIC_Byte(0x00); //write commandWrite_IIC_Byte(IIC_Command);IIC_Stop();}/****************IIC Write Data*****************/void Write_IIC_Data(u8 IIC_Data){IIC_Start();Write_IIC_Byte(0x78);Write_IIC_Byte(0x40); //write dataWrite_IIC_Byte(IIC_Data);IIC_Stop();}/***********************Initial code*********************/void Initial_LY096BG30(){Write_IIC_Command(0xAE); //display offWrite_IIC_Command(0x20); //Set Memory Addressing ModeWrite_IIC_Command(0x10); //00,Horizontal Addressing Mode;01,Vertical Addressing Mode;10,Page Addressing Mode (RESET);11,InvalidWrite_IIC_Command(0xb0); //Set Page Start Address for Page Addressing Mode,0-7Write_IIC_Command(0xc8); //Set COM Output Scan DirectionWrite_IIC_Command(0x00); //---set low column addressWrite_IIC_Command(0x10); //---set high column addressWrite_IIC_Command(0x40); //--set start line addressWrite_IIC_Command(0x81); //--set contrast control registerWrite_IIC_Command(0x7f);Write_IIC_Command(0xa1); //--set segment re-map 0 to 127Write_IIC_Command(0xa6); //--set normal displayWrite_IIC_Command(0xa8); //--set multiplex ratio(1 to 64)Write_IIC_Command(0x3F); //Write_IIC_Command(0xa4); //0xa4,Output follows RAM content;0xa5,Output ignores RAM contentWrite_IIC_Command(0xd3); //-set display offsetWrite_IIC_Command(0x00); //-not offsetWrite_IIC_Command(0xd5); //--set display clock divide ratio/oscillator frequencyWrite_IIC_Command(0xf0); //--set divide ratioWrite_IIC_Command(0xd9); //--set pre-charge periodWrite_IIC_Command(0x22); //Write_IIC_Command(0xda); //--set com pins hardware configurationWrite_IIC_Command(0x12);Write_IIC_Command(0xdb); //--set vcomhWrite_IIC_Command(0x20); //0x20,0.77xVccWrite_IIC_Command(0x8d); //--set DC-DC enableWrite_IIC_Command(0x14); //Write_IIC_Command(0xaf); //--turn on oled panel}/***************设置参数显示******************/void dis_Val1(u8 s){u8 x,y;u16 i0;u8 A1,A2,A3;A1s/100;A2(s-A1*100)/10;A3s-A1*100-A2*10;for(y0;y2;y) //百位显示{Write_IIC_Command((u8)(0XB4y)); //纵向页 1011Write_IIC_Command(0X00); //横向离左部边缘开始的距离Write_IIC_Command(0X10); //横向第四个字for(x0;x8;x) //横向像素{Write_IIC_Data(show1[xy*8A1*16]); //0--A字符表}for(x0;x8;x) //横向像素{Write_IIC_Data(show1[xy*8A2*16]);Oled_delay(2);}}for(y0;y2;y) //十位显示{Write_IIC_Command((u8)(0XB4y)); //纵向页Write_IIC_Command(0X00); //横向离左部边缘开始的距离Write_IIC_Command(0X11); //横向第五个字for(x0;x8;x) //横向像素{Write_IIC_Data(show1[xy*8A3*16]);Oled_delay(2);}}}/********************显示待机**********************/void Diswait(){u8 x,y;u16 Cnt32;for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //竖向第一行 待Write_IIC_Command(0x00);Write_IIC_Command(0x10); //横向第一个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*11]); //字符表第7个字}}//for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //竖向第一行 机Write_IIC_Command(0x00);Write_IIC_Command(0x11); //横向第二个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*12]); //字符表第8个字}}for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //竖向第一行 待Write_IIC_Command(0x00);Write_IIC_Command(0x12); //横向第一个字for(x0;x16;x) //横向像素{Write_IIC_Data(0X00); //字符表第7个字}}//for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //竖向第一行 待Write_IIC_Command(0x00);Write_IIC_Command(0x13); //横向第一个字for(x0;x16;x) //横向像素{Write_IIC_Data(0X00); //字符表第7个字}}//}/********************IO_rst**********************/void IO_int(){P_SW2 | 0x80; //扩展寄存器(XFR)访问使能P0M1 0x00; P0M0 0x00; //设置为推挽输出P1M1 0x00; P1M0 0x00; //设置为准双向口P2M1 0x00; P2M0 0x00; //设置为准双向口P3M1 0x00; P3M0 0x00; //设置为准双向口P4M1 0x00; P4M0 0x00; //设置为准双向口P5M1 0x00; P5M0 0x00; //设置为准双向口}/********************picture**********************/void cleardisp(){u8 x,y;for(y0;y8;y){Write_IIC_Command((u8)(0xb0y));Write_IIC_Command(0x00);Write_IIC_Command(0x10);for(x0;x128;x) //横向像素{Write_IIC_Data(0X00);}}}/***************显示计数器值******************/void dis_Val(u8 s){u8 x,y;u16 i0;u8 A1,A2;A1s/10;A2s-A1*10;for(y0;y2;y) //百位显示{Write_IIC_Command((u8)(0XB2y)); //纵向页 1011Write_IIC_Command(0X00); //横向离左部边缘开始的距离Write_IIC_Command(0X10); //横向第四个字for(x0;x8;x) //横向像素{Write_IIC_Data(show1[xy*8A1*16]); //0--A字符表}for(x0;x8;x) //横向像素{Write_IIC_Data(show1[xy*8A2*16]); //0--A字符表}}}/***************显示气缸前进******************/void Cylinder_Forword(){u8 x,y;u16 Cnt32;for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //Write_IIC_Command(0x00);Write_IIC_Command(0x10); //横向第一个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*13]); //字符表第7个字}}//气for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //Write_IIC_Command(0x00);Write_IIC_Command(0x11); //横向第二个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*14]); //字符表第8个字}}//缸for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //Write_IIC_Command(0x00);Write_IIC_Command(0x12); //横向第一个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*16]); //字符表第7个字}}//前for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //Write_IIC_Command(0x00);Write_IIC_Command(0x13); //横向第二个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*8]); //字符表第8个字}}//进}/***************显示气缸后退******************/void Cylinder_Back(){u8 x,y;u16 Cnt32;for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //Write_IIC_Command(0x00);Write_IIC_Command(0x10); //横向第一个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*13]); //字符表第7个字}}//气for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //Write_IIC_Command(0x00);Write_IIC_Command(0x11); //横向第二个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*14]); //字符表第8个字}}//缸for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //Write_IIC_Command(0x00);Write_IIC_Command(0x12); //横向第一个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*17]); //字符表第7个字}}//后for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //Write_IIC_Command(0x00);Write_IIC_Command(0x13); //横向第二个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*9]); //字符表第8个字}}//退}/***************显示电机前进******************/void Motor_Forword(){u8 x,y;u16 Cnt32;for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //Write_IIC_Command(0x00);Write_IIC_Command(0x10); //横向第一个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*18]); //字符表第7个字}}//电for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //Write_IIC_Command(0x00);Write_IIC_Command(0x11); //横向第二个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*12]); //字符表第8个字}}//机for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //Write_IIC_Command(0x00);Write_IIC_Command(0x12); //横向第一个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*16]); //字符表第7个字}}//前for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //Write_IIC_Command(0x00);Write_IIC_Command(0x13); //横向第二个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*8]); //字符表第8个字}}//进}/***************显示电机停止******************/void Motor_Stop(){u8 x,y;u16 Cnt32;for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //Write_IIC_Command(0x00);Write_IIC_Command(0x10); //横向第一个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*18]); //字符表第7个字}}//电for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //Write_IIC_Command(0x00);Write_IIC_Command(0x11); //横向第二个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*12]); //字符表第8个字}}//机for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //Write_IIC_Command(0x00);Write_IIC_Command(0x12); //横向第一个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*2]); //字符表第7个字}}//停for(y0;y2;y){Write_IIC_Command((u8)(0XB0y)); //Write_IIC_Command(0x00);Write_IIC_Command(0x13); //横向第二个字for(x0;x16;x) //横向像素{Write_IIC_Data(show2[xy*16Cnt*3]); //字符表第8个字}}//止}/***************自动运行******************/void Auto_Run(){OUT_10; //前气缸进OUT_30; //后气缸进Cylinder_Forword();do{do{if(Cylinder_11) //前气缸未复位{key_reset();for(;kcounter10;) //输入端口循环5次{if(!KEY_1) //输入端口低电平{Key_ValAdd(); //输入端口低电平 计数器加一状态标志加一}else if(~!KEY_1) //输入端口高电平{ //Key_Clear(); //按键计数器加一 状态标志归零}if(kstatus8) /*按键状态标志大于等于3为有效值*/{dis_Val(2);Cylinder_10;OUT_11; //关前气缸}}}//前气缸进停止if(Cylinder_21) //前气缸未复位{key_reset();for(;kcounter10;) //输入端口循环5次{if(!KEY_2) //输入端口低电平{Key_ValAdd(); //输入端口低电平 计数器加一状态标志加一}else if(~!KEY_2) //输入端口高电平{ //Key_Clear(); //按键计数器加一 状态标志归零}if(kstatus8) /*按键状态标志大于等于3为有效值*/{dis_Val(3);Cylinder_20;OUT_31; //关后气缸}}}//后气缸进停止}while(Cylinder_1||Cylinder_2); // 循环dis_Val(4);Motor_Forword(); // 显示电机前进Motora_In11; // 电机前信号Motora_In20; // 电机前信号Motorb_In11; // 电机后信号Motorb_In20; // 电机后信号Motor_11; //Motor_21; //do{if(Motor_11){key_reset();for(;kcounter10;) //输入端口循环5次{if(!KEY_3) //输入端口低电平{Key_ValAdd(); //输入端口低电平 计数器加一状态标志加一}else if(~!KEY_3) //输入端口高电平{ //Key_Clear(); //按键计数器加一 状态标志归零}if(kstatus8) /*按键状态标志大于等于3为有效值*/{dis_Val(5);Motor_10;Motora_In11; // 电机前信号Motora_In21; // 电机前信号}}}//前电机进停止if(Motor_21){key_reset();for(;kcounter10;) //输入端口循环5次{if(!KEY_4) //输入端口低电平{Key_ValAdd(); //输入端口低电平 计数器加一状态标志加一}else if(~!KEY_4) //输入端口高电平{ //Key_Clear(); //按键计数器加一 状态标志归零}if(kstatus8) /*按键状态标志大于等于3为有效值*/{dis_Val(6);Motor_20;Motorb_In11; // 电机后信号Motorb_In21; // 电机后信号}}}//后电机进停止}while(Motor_1||Motor_2); //或循环dis_Val(7);Motor_Stop(); //显示电机停止delay_ms(200);dis_Val(8);Cylinder_Back(); //显示气缸后退OUT_20; //前气缸退OUT_40; //后气缸退delay_ms(200);key_reset();for(;kcounter10;) //输入端口循环5次{if(~!KEY_5) //输入端口低电平{Key_ValAdd(); //输入端口低电平 计数器加一状态标志加一}else if(!KEY_5) //输入端口高电平{ //Key_Clear(); //按键计数器加一 状态标志归零}if(kstatus8) /*按键状态标志大于等于3为有效值*/{dis_Val(0); //退出自动循环Auto_Flag0;Diswait();}}}while(Auto_Flag);}/******************** 主函数 **************************/void main(void){IO_int();Initial_LY096BG30();cleardisp();Diswait();Counter0;dis_Val1(0X12); //第三行显示十进制数18while(1){//key_reset();for(;kcounter10;) //输入端口循环5次{if(!KEY_5) //输入端口低电平{Key_ValAdd(); //输入端口低电平 计数器加一状态标志加一}else if(~!KEY_5) //输入端口高电平{ //Key_Clear(); //按键计数器加一 状态标志归零}if(kstatus8) /*按键状态标志大于等于3为有效值*/{dis_Val(1);Auto_Run(); //}}}}