文档介绍：移动机械臂
rn
姓名：陶敏
学号：0863110312
班级：08级建筑学3班
实物图
反射式光电开关
反射式光电开关L
GND
VDL_IN
MB
SN74LSO4N
MC
J
SN74LS04N
SN74LSO4N
U2B
SN74LSO4N
U2E
SN74LSO4N
U2F
SN74LS04N U2C
SN74LS04N
U3A
F-L
MF
F-R
A-L
U4A
SN74LS04N U4B
SN74LS04N U4C
BEEP Music-OUT
系统主控制电路
Vin-12V
* 电源电路 vm
VCC
►VDL_FN_ML
系统电路
SN74LS04N U3B
H桥电路
H桥电路
H桥电路
MD
H桥电路
H桥电路
H桥电路
H桥电路
控制电路
GND
Music-OUT
—IN R
—IN L
Music-IN
电动机
蜂鸣器电路
GND
#include<reg5 >
sbit MlA=POAO;sbit M1B=POA1;
sbit M4A=P0A6;sbit M4B=P0A7;
sbit M7A=P2A5;sbit M7B=P2A4;
一、实验源程序
sbit M2A=P0A2;sbit M2B=P0A3; sbit M3A=P0A4;sbit M3B=P0A5;
sbit M5A=P2A7;sbit M5B=P2A6; sbit M6A=P2A0;sbit M6B=P2A1; sbit Beep=P2A2;
sbit Rin=PlAl;sbit Lin=PlA2; sbit Min=PlA5;
void MSDelay (unsigned int);
void Music 1 (void); void Music2(void); void Music3(void);
void main(void)
(
Rin=l; Lin=l; Min=l;
M1A=O; M1B=1;//M1 前进
while( Rin==0)
M1A=1; M1B=1; MSDelay(40);//Ml 停止 Music2();
M1A=1;M1B=O;
MSDelay(200);
M1A=1;M1B=1;
M2A=1; M2B=0;
MSDelay(150);
M2A=1;M2B=1;
)
while( Lin==0)
(
M1A=1;M1B=1;
MSDelay(40);//Ml 停止
Music2();
M1A=1;M1B=O;
MSDelay(200);
M1A=1;M1B=1;
M2A=0; M2B=1;
MSDelay(150);
M2A=1;M2B=1;
}
while( Min==0)
(
MSDelay(40);//Ml 停止
Music2(); Music3();
M7A=0; M7B=1;
MSDelay(lOO);
M7A=1;M7B=1;
M5A=l;M5B=0;
MSDelay(500);
M5A=1;M5B=1;
M7A=1; M7B=0;
MSDelay(lOO);
M7A=1;M7B=1;
M6A=0; M6B=1;
MSDelay(400);
M6A=1;M6B=1;
M5A=0; M5B=1;
MSDelay(500);
M5A=1;M5B=1;
M4A=0; M4B=1;
MSDelay(500);
M4A=1;M4B=1;
M3A=l;M3B=0;
MSDelay(300);
M3A=1;M3B=1;
M7A=0; M7B=1;
MSDelay(lOO);
M7A=1;M7B=1;
M7A=1; M7B=0;
MSDelay(lOO);
M7A=1;M7B=1;
M6A=1; M6B=0;
MSDelay(4