两相四线步进电机驱动代码

#include<reg52.h>
#define uint unsigned int
#define uchar unsigned char

sbit a0=P0^0;
sbit a1=P0^1;
sbit b0=P0^2;
sbit b1=P0^3;
sbit en0=P1^0;  //使能1
sbit en1=P1^1; //使能2

const uint eighttb[8][4]={{0,1,1,0},{0,1,0,0},{0,1,0,1},{0,0,0,1},{1,0,0,1},{1,0,0,0},{1,0,1,0},{0,0,1,0}};
const uint fourtb[4][4]={{0,1,1,0},{0,1,0,1},{1,0,0,1},{1,0,1,0}};

void Delay(uint z);
void FullStep(uint count,uint dy,uchar anti);
void OneHalfStep(uint count,uint dy,uchar anti);

void main()
{
    uint n=2000;

    for(n;n>0;n--)
    {
        en0=1;
        en1=1;
        FullStep(4,15,0);
        en0=0;
        en1=0;
        Delay(1000);
    }
    while(1);
}

void OneHalfStep(uint count,uint dy,uchar anti)     //count为脉冲数,dy为延时时间,anti为0正转非0反转
{
    uchar i,j;
    i = count;
    for(i;i>0;i--)
    {
        for(j=0;j<8;j++)
        {
            if(anti == 0)
            {
                a0 = eighttb[j][0];
                a1 = eighttb[j][1];
                b0 = eighttb[j][2];
                b1 = eighttb[j][3];
            }else{
                a0 = eighttb[7-j][0];
                a1 = eighttb[7-j][1];
                b0 = eighttb[7-j][2];
                b1 = eighttb[7-j][3];
            }
            Delay(dy);
        }    
    }
    P0=0x00;
}

void FullStep(uint count,uint dy,uchar anti)   //count为脉冲数,dy为延时时间,anti为0正转非0反转
{
    uchar i,j;
    i = count;
    for(i;i>0;i--)
    {
        for(j=0;j<4;j++)
        {
            if(anti == 0)
            {
                a0 = fourtb[j][0];
                a1 = fourtb[j][1];
                b0 = fourtb[j][2];
                b1 = fourtb[j][3];
            }else{
                a0 = fourtb[3-j][0];
                a1 = fourtb[3-j][1];
                b0 = fourtb[3-j][2];
                b1 = fourtb[3-j][3];
            }
            Delay(dy);
        }    
    }
    P0=0x00;
}

void Delay(uint z) //延时函数
{
 uint x,y;
 for(x=z;x>0;x--)
  for(y=114;y>0;y--);
}