AVR单片机控制舵机

#include 


typedef struct BYTE_BIT
{
      unsigned BIT0:1;
      unsigned BIT1:1;
      unsigned BIT2:1;
      unsigned BIT3:1;
      unsigned BIT4:1;
      unsigned BIT5:1;
      unsigned BIT6:1;
     unsigned BIT7:1;
}BYTEBIT;
#define SET_BIT8_FORMAT(Addr)     (*((volatile BYTEBIT *)&Addr)) 
# define PORTB_BIT     SET_BIT8_FORMAT(PORTB)

# define _PB0        PORTB_BIT.BIT0
# define _PB1        PORTB_BIT.BIT1
# define _PB2        PORTB_BIT.BIT2
# define _PB3        PORTB_BIT.BIT3
# define _PB4        PORTB_BIT.BIT4
# define _PB5        PORTB_BIT.BIT5
# define _PB6        PORTB_BIT.BIT6
# define _PB7        PORTB_BIT.BIT7


/*delay(1)延时时间为300US
delay(80)延时时间为20mS
delay(4)延时时间为1mS
delay(8)延时时间为2mS
delay(6)延时时间为1.55mS
delay(2)延时时间为0.55MS
delay(10)延时时间为2.5mS
*/

void Delay(int j)
{     

    int i;
     for(;j>0;j--)
    { 
          for(i=0;i<35;i++);

    }
}




void main(void) 

{
     int i,j;
     DDRB=0XFF;
     while(1)
    {
           //2.0ms   135度位置
          _PB7=1;

           Delay(8);
         _PB7=0;

         Delay(74);

         /*
         //1.0ms   45度位置
        _PB7=1;

        Delay(4);
        _PB7=0;

        Delay(78);
   
         //1.5ms   90度位置
       _PB7=1;

         Delay(6);
         _PB7=0;

         Delay(78);



        // 2.5ms   180度位置
        _PB7=1;

        Delay(10);
       _PB7=0;

         Delay(72);

       //0.5ms         0度位置

     _PB7=1;

       Delay(2);
        _PB7=0;

        Delay(78);

        */
     }

}