根据Mega128编码器操控步进电机的平衡体系

提起编码器，或许我们并不生疏，由于这东西真的很常用，现在的干流编码器一般精度都是比较高的，基本上都是依据光栅的。毕竟用硬件用电刷做到512精度以上是很困难的，并且本钱也是很高的，这儿我就不多说什么了。

这儿是delay.h====================================================================//依据CPU时钟频率挑选#ifndef F_CPU//#define F_CPU 7372800//#define F_CPU 8000000//#define F_CPU 11059200//#define F_CPU 12000000#define F_CPU 16000000#endif//------------------------------------------------------------------------------//1、2、3、5和10us的准确延时，用于需求准确时刻的场合，比方DS18B20//------------------------------------------------------------------------------#if   F_CPU == 7372800#define DELAY_1US NOP();NOP();NOP();NOP();NOP();NOP();NOP()#define DELAY_2US DELAY_1US;DELAY_1US#define DELAY_3US DELAY_1US;DELAY_1US;DELAY_1US#define DELAY_5US DELAY_2US;DELAY_3US#define DELAY_10US DELAY_5US;DELAY_5US#elif F_CPU == 8000000#define DELAY_1US NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP()#define DELAY_2US DELAY_1US;DELAY_1US#define DELAY_3US DELAY_1US;DELAY_1US;DELAY_1US#define DELAY_5US DELAY_2US;DELAY_3US#define DELAY_10US DELAY_5US;DELAY_5US#elif F_CPU == 11059200#define DELAY_1US NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP()#define DELAY_2US DELAY_1US;DELAY_1US#define DELAY_3US DELAY_1US;DELAY_1US;DELAY_1US#define DELAY_5US DELAY_2US;DELAY_3US#define DELAY_10US DELAY_5US;DELAY_5US#elif F_CPU == 12000000#define DELAY_1US NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP()#define DELAY_2US DELAY_1US;DELAY_1US#define DELAY_3US DELAY_1US;DELAY_1US;DELAY_1US#define DELAY_5US DELAY_2US;DELAY_3US#define DELAY_10US DELAY_5US;DELAY_5US#elif F_CPU == 16000000#define DELAY_1US NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP()#define DELAY_2US DELAY_1US;DELAY_1US#define DELAY_3US DELAY_1US;DELAY_1US;DELAY_1US#define DELAY_5US DELAY_2US;DELAY_3US#define DELAY_10US DELAY_5US;DELAY_5US#endif//------------------------------------------------------------------------------//函数声明//------------------------------------------------------------------------------void delay_nus(unsigned int);//<10us时差错较大，用于无须准确延时的场合void delay_nms(unsigned int);#endif//__DELAY_H====================================================================这儿是delay.c====================================================================//|文件名称|delay.c//|--------|--------------------------------------------------------------------//|描    述|延时文件//|--------|--------------------------------------------------------------------//|说    明|delay_us(unsigned int time)用于不需准确守时的场合,<10us时差错较大//|        |若要准确守时用delay.h里的宏//|--------|--------------------------------------------------------------------//|调用文件|delay.h//|--------|--------------------------------------------------------------------//|作    者|//|--------|--------------------------------------------------------------------//|版    本|//|--------|--------------------------------------------------------------------//|时    间|//|--------|--------------------------------------------------------------------//|E-mail  |//|--------|--------------------------------------------------------------------//|开发环境|ICCAVR6.31//==============================================================================#include "delay.h"#if F_CPU == 7372800void delay_nus(unsigned int time){unsigned int i;for(i=0;i