【正文】 LL DELAYT MOV B,58H INC B MOV A,0FH MUL AB CLR C ADD A,54H MOV A,54H CLR A ADDC A,55H MOV 55H,A MOV A,P1 CPL A SUBB A,R7 JZ BSHS11 SETB 61H MOV 3AH,0FFH MOV 3BH,0BFH LCALL XSH LJMP CHECK1 WZH1: JB 61H,WZH10 。手腕回轉(zhuǎn) MOV 3AH,0FFH MOV 3BH,0BBH CLR 71H LCALL XSH AJMP WZH11WZH10: MOV 3AH,0FFH MOV 3BH,0B7H SETB 71H LCALL XSHWZH11: LCALL DELAYT MOV B,58H INC B MOV A,0FH MUL AB CLR C ADD A,56H MOV 56H,A CLR A ADDC A,57H MOV 57H,A MOV A ,P1 CPL A SUBB A,R7 JZ WZH11 SETB 61H MOV 3AH,0FFH MOV 3BH,0BFH LCALL XSH LJMP CHECK1QUIT1:MOV 30H,02H 。退出并進(jìn)入到精確進(jìn)給模式 CLR TR0 RETJQF: MOV 3AH,0FFH 。精確進(jìn)給顯示初始化 MOV 3BH,0DFH SETB 61H ；電機(jī)默認(rèn)正轉(zhuǎn) CLR 56H 。沒(méi)運(yùn)行,不會(huì)有暫停 CLR TR0 。未按確定鍵,不會(huì)運(yùn)轉(zhuǎn) MOV R5,00H ；初始沒(méi)有數(shù)字鍵按下 MOV 45H,00H ；沒(méi)有選擇電機(jī) MOV 2AH,00H ；各電機(jī)初始沒(méi)被選則 MOV A ,58H ；查轉(zhuǎn)速 MOV DPTR,LEDM MOVC A,@A+DPTR MOV 3CH,A ；顯示轉(zhuǎn)速 MOV 3DH,0FFH MOV 3EH,0FFH LCALL XSHCHECK2:MOV DPTR,02FFH ；掃描鍵盤 MOVX A,@DPTR ANL A,07H MOV R7,A SUBB A,00H JZ CHECK2 ；無(wú)鍵按下，繼續(xù)掃描 MOV A,P1 CPL A MOV R7,A SUBB A,0C0H JZ ONC2 ；C鍵按下 MOV A,R7 SUBB A,80H JZ ONA2N1 ；A鍵按下，要長(zhǎng)跳轉(zhuǎn) AJMP ONA2N0ONA2N1:LJMP ONA2ONA2N0:MOV A,R7 SUBB A,38H JZ ONF2N1 ；反向鍵按下 AJMP ONF2N0ONF2N1:LJMP ONF2ONF2N0:MOV A,R7 SUBB A,30 JZ SHJ2N1 ；手夾緊鍵按下 AJMP SHJ2N0SHJ2N1:LJMP SHJ2SHJ2N0:MOV A,R7 SUBB A,28H JZ JSH2N1 ；機(jī)身回轉(zhuǎn)鍵按下 AJMP JSH2N0JSH2N1:LJMP JSH2JSH2N0:MOV A,R7 SUBB A,20H JZ BFY2N1 ；手臂俯仰鍵按下 AJMP BFY2N0BFY2N1:LJMP BFY2BFY2N0:MOV A,R7 SUBB A,18H JZ BSHS2N1 ；手臂伸縮鍵按下 AJMP BSHS2N0BSHS2N1:LJMP BSHS2BSHS2N0:MOV A,R7 SUBB A,10H JZ WZH2N1 ；手腕回轉(zhuǎn)鍵按下 AJMP WZH2N0WZH2N1: LJMP WZH2WZH2N0: MOV DPTR,02FFH ；處理數(shù)字鍵 MOVX A,@DPTR ANL A,07H SUBB A,04H JZ SH2 MOV A,P1 CPL A RR A RR A RR A ADD A,08H JMP SH21SH2: MOV A,P1 CPL A SH21: MOV R7,A LJMP ONSH2ONC2: JNB 55H,ONC2N ；C鍵處理程序 CLR TR0 CLR 55H SETB 56H LJMP ONC2QONC2N: JB 56H,ONC2Q1 MOV A,45H SUBB A,00H JZ ONC20 MOV A,R5 SUBB A,00H JZ ONC21 DEC R5 LCALL COUNT LJMP ONC2QONC20: LCALL XSH0 MOV 2AH,00H LJMP ONC2QONC21: MOV A,45H MOV 45H,00H MOV R4,A SUBB A,01H JNZ ONC210 CLR 54HONC210:MOV A,R4 SUBB A,02H JNZ ONC211 CLR 52HONC211:MOV A,R4 SUBB A,03H JNZ ONC212 CLR 51HONC212:MOV A,R4 SUBB A,04H JNZ ONC213 CLR 50HONC213:MOV 3AH,0FFH MOV 3BH,0DFH LCALL XSHONC2Q: LCALL DELAY30ONC2Q1:MOV A,P1 CPL A SUBB A,R7 JZ ONC2Q1 LJMP CHECK2ONA2: MOV R3,00H ；A鍵處理程序ONA20: LCALL DELAY30 INC R3 MOV A,P1 CPL A SUBB A,R7 JZ ONA20 MOV A,R3 SUBB A,64HJC ONA21LJMP QUIT2ONA21:SETB TR0 SETB 55H CLR 56H LCALL XSH0 LJMP CHECK2ONF2: CLR 61H ；反向鍵處理程序 LCALL DELAY30ONF20:MOV A,P1 CPL A SUBB A,R7 JZ ONF20 LJMP CHECK2SHJ2: JB 61H,SHJ20 ；手夾緊鍵處理程序 CLR 74H MOV 3AH,0F7H MOV 3BH,0DFH LCALL XSH AJMP SHJ21SHJ20: SETB 74H MOV 3AH,0FBH MOV 3BH,0DFH LCALL XSHSHJ21: LCALL DELAY30SHJ22: MOV A,P1 CPL A SUBB A,R7 JZ SHJ22 SETB 61H MOV R5,00H LJMP CHECK2JSH2: JB 61H,JSH20 MOV 3AH,0EFH MOV 3BH,0DFH CLR 75H LCALL XSH AJMP JSH21JSH20: MOV 3AH,0DFH MOV 3BH,0DFH SETB 75H LCALL XSHJSH21: LCALL DELAY30JSH22: MOV A,P1 CPL A SUBB A,R7 JZ JSH22 SETB 61H MOV R5,00H MOV 45H,01H LJMP CHECK2BFY2: JB 61H,BFY20 ；手臂俯仰鍵處理 MOV 3AH,0FBH MOV 3BH,0DFH CLR 73H LCALL XSH