51单片机机械手控制C程序〃包含所需头文件#include<reg51.h>#defineucharunsignedchar/***************——宏定义-----*******************〃气缸sbitqigang_left=P0A0;sbitqigang_right=P0A1;sbitqigang_up=P0A2;sbitqigang_down=P0A3;sbitqigang_behind=P0A4;sbitqigang_front=P0A5;sbitqigang_grasp=P0A6;sbitqigang_loose=P0A7;sbitjourney_left=P1A0;〃传感器开关sbitjourney_right=P1A1；sbitjourney_up=P1A2;sbitjourney_down=P1A3;sbitjourney_behind=P1A4;sbitjourney_front=P1A5;sbitflag_start=P3A2;〃启动按钮/***************中断****************************/voidt0(void)interrupt0using0〃按键按下触发中断服务程序(//flag_start=1;}—/***************延时函数***********************/Svoiddelay(unsignedcharm)您时子m秒子程序(unsignedchari,j,k;m=m*100;for(i=m;i>0;i--)for(j=20;j>0;j--)for(k=248;k>0;k--);/*******************主函数*********************/voidmain(){qigang_left=1;qigang_right=1;qigang_front=1;qigang_behind=1;qigang_up=1;qigang_down=1;qigang_grasp=1;qigang_loose=1;/***************中断初始化******************/IT0=1;//下降沿触发EX0=1;EA=1;if(flag_start==0){—while(1){qigang_left=0;〃机械手左移while(1)〃左移死循环，等待下面的传感器开关{if(journey_left==0)〃左面的传感器开关接通{qigang_left=1;〃停止左移qigang_front=0;〃机械手前移while(1)〃前移死循环，等待前面的传感器开关{if(journey_front==0)//前面的传感器开关接通(qigang_front=1;〃停止前移qigang_down=0;/机械手下降while(1)〃下降死循环，等待下面的传感器开关(if(journey_down==0)〃下面的传感器开关接通(qigang_down=1;//停止下降qigang_grasp=0;/机械手抓取delay(1);//M取延时qigang_up=1;〃开始上升while(1)〃上升死循环，等待上面的传感器开关(if(journey_up==0)〃上面的传感器开关接通(qigang_up=1;〃停止上升qigang_right=0;〃向右移动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(journey_up==0)(qigang_up=1;break;}}break;}}break;}}break;}}break;}}break;}}break;}}break;}}}}}