1、51單片機(jī)機(jī)械手控制C程序/包含所需頭文件 #include<reg51.h>#define uchar unsigned char/*宏定義*/sbitqigang_left=P0A0;氣缸sbit qigang_right=P0A1；sbitqigang_up=P0A2;sbitqigang_down=P0A3;sbit qigang_behind=P0A4;sbit qigang_front=P0A5;sbit qigang_grasp=P0A6;sbitqigang_loose=P0A7;sbit journey_left=P1A0;sbit journey_right=P

2、1A1;sbit journey_up=P1A2;sbit journey_down=P1A3;sbit journey_behind=P1A4;sbit journey_front=P1A5;sbitflag_start=P3 A2;/傳感器開關(guān)/啟動按鈕/*中斷 */void t0(void) interrupt 0 using 0/按鍵按下觸發(fā)中斷服務(wù)程序(/flag_start=1;)./*延時(shí)函數(shù) s*/施時(shí)子m秒子程序void delay(unsigned char m)(unsigned char i,j,k;m=m*100;for(i=m;i>0;i-) for(j=20

3、;j>0;j-) for(k=248;k>0;k-);)/*主函數(shù) */ void main() qigang_left=1;qigang_right=1;qigang_front=1;qigang_behind=1;qigang_up=1;qigang_down=1;qigang_grasp=1;qigang_loose=1;/*中斷初始化 */IT0=1;/下降沿觸發(fā)EX0=1;EA=1;if(flag_start=0).while(1)qigang_left=0;/機(jī)械手左移while(1)/左移死循環(huán)，等待下面的傳感器開關(guān)if(journey_left=0)左面的傳感器開關(guān)

4、接通qigang_left=1;/停止左移qigang_front=0;/機(jī)械手前移while(1)/前移死循環(huán)，等待前面的傳感器開關(guān)if(journey_front=0)/前面的傳感器開關(guān)接通(qigang_front=1; /停止前移qigang_down=0; /用1 械手下降while(1)/下降死循環(huán)，等待下面的傳感器開關(guān)(if(journey_down=0) /下面的傳感器開關(guān)接通(qigang_down=1; /停止下降qigang_grasp=0;/機(jī)械手抓取delay(1);伽取延時(shí)qigang_up=1; 開始上升while(1)/上升死循環(huán)，等待上面的傳感器開關(guān)(if(journey_up=0)/上面的傳感器開關(guān)接通(qigang_up=1;停止上升qigang_right=0;向右移動while(1) (if(journey_right=0) qigang_right=1;qigang_behind=0;while(1)(if(journey_behind=0)(qigang_behind=1;qigang_down=0;while(1)(if(journey_down=0)(qigang_down=1;qigang_loose=0;delay(1);qigang_up=1;while(1)(if(journ