視頻教程：https://www.bilibili.com/video/BV1fF411K79x

#include
#include 
#define uchar unsigned char
#define uint unsigned int
#define LCD1602_DATAPINS P0
sbit LCD1602_E=P2^2;
sbit LCD1602_RW=P2^1;
sbit LCD1602_RS=P2^0;

sbit MA_1 = P1^0;
sbit MA_2 = P1^1;
sbit MA_3 = P1^2;
sbit MA_4 = P1^3;

sbit MB_1 = P1^4;
sbit MB_2 = P1^5;
sbit MB_3 = P1^6;
sbit MB_4 = P1^7;

uchar flag;
unsigned char code M_A[8]={0xf1,0xf3,0xf2,0xf6,0xf4,0xfc,0xf8,0xf9}; //X反轉順序
unsigned char code M_B[8]={0xf9,0xf8,0xfc,0xf4,0xf6,0xf2,0xf3,0xf1}; //X正轉順序


/*******************************************************************************
* 函 數 名  : Delay
* 函數功能  : 延時
*******************************************************************************/

void DDelay(unsigned int t)
{
 unsigned int k;
 while(t--)
 {
		for(k=0; k0; c--)
	{
		 for (b=199;b>0;b--)
		 {
		  	for(a=1;a>0;a--);
		 }      
	}
    	
}

/*******************************************************************************
* 函 數 名         : LcdWriteCom
* 函數功能		   : 向LCD寫入一個字節的命令
* 輸    入         : com
* 輸    出         : 無
*******************************************************************************/
void LcdWriteCom(uchar com)	  //寫入命令
{
	LCD1602_E = 0;     //使能
	LCD1602_RS = 0;	   //選擇發送命令
	LCD1602_RW = 0;	   //選擇寫入
	
	LCD1602_DATAPINS = com;     //放入命令
	Lcd1602_Delay1ms(1);		//等待數據穩定

	LCD1602_E = 1;	          //寫入時序
	Lcd1602_Delay1ms(5);	  //保持時間
	LCD1602_E = 0;
}
/*******************************************************************************
* 函 數 名         : LcdWriteData
* 函數功能		   : 向LCD寫入一個字節的數據
* 輸    入         : dat
* 輸    出         : 無
*******************************************************************************/		   	   
void LcdWriteData(uchar dat)			//寫入數據
{
	LCD1602_E = 0;	//使能清零
	LCD1602_RS = 1;	//選擇輸入數據
	LCD1602_RW = 0;	//選擇寫入

	LCD1602_DATAPINS = dat; //寫入數據
	Lcd1602_Delay1ms(1);

	LCD1602_E = 1;   //寫入時序
	Lcd1602_Delay1ms(5);   //保持時間
	LCD1602_E = 0;
}


/*******************************************************************************
* 函 數 名       : LcdInit()
* 函數功能		 : 初始化LCD屏
* 輸    入       : 無
* 輸    出       : 無
*******************************************************************************/		   
void LcdInit()						  //LCD初始化子程序
{
 	LcdWriteCom(0x38);  //開顯示
	LcdWriteCom(0x0c);  //開顯示不顯示光標
	LcdWriteCom(0x06);  //寫一個指針加1
	LcdWriteCom(0x01);  //清屏
	LcdWriteCom(0x80);  //設置數據指針起點
}





//按指定位置顯示一個字符
void DisplayOneChar(unsigned char X, unsigned char Y, unsigned char DData)
{
 Y &= 0x1;
 X &= 0xF; //限制X不能大于15，Y不能大于1
 if (Y) X |= 0x40; //當要顯示第二行時地址碼+0x40;
 X |= 0x80; // 算出指令碼
 LcdWriteCom(X); //這里不檢測忙信號，發送地址碼
 LcdWriteData(DData);
}
//按指定位置顯示一串字符
void DisplayListChar(unsigned char X, unsigned char Y, unsigned char code *DData)
{
 unsigned char ListLength;

  ListLength = 0;
 Y &= 0x1;
 X &= 0xF; //限制X不能大于15，Y不能大于1
 while (DData[ListLength]>=0x20) //若到達字串尾則退出
  {
   if (X <= 0xF) //X坐標應小于0xF
    {
     DisplayOneChar(X, Y, DData[ListLength]); //顯示單個字符
     ListLength++;
     X++;
    }
  }
}

//unsigned char code M_A[8]={0xf1,0xf3,0xf2,0xf6,0xf4,0xfc,0xf8,0xf9}; //X反轉順序
//unsigned char code M_B[8]={0xf9,0xf8,0xfc,0xf4,0xf6,0xf2,0xf3,0xf1}; //X正轉順序

void Motor_A1()
{
	DDelay(3);
	MA_1 = 0;
	MA_2 = 0;
	MA_3 = 0;
	MA_4 = 1;	
	DDelay(3);
	MA_1 = 0;
	MA_2 = 0;
	MA_3 = 1;
	MA_4 = 1;	
	
	DDelay(3);
	MA_1 = 0;
	MA_2 = 0;
	MA_3 = 1;
	MA_4 = 0;	
	
	DDelay(3);
	MA_1 = 0;
	MA_2 = 1;
	MA_3 = 1;
	MA_4 = 0;	
	
	DDelay(3);
	MA_1 = 0;
	MA_2 = 1;
	MA_3 = 0;
	MA_4 = 0;	
	
	DDelay(3);
	MA_1 = 1;
	MA_2 = 1;
	MA_3 = 0;
	MA_4 = 0;	
	
	DDelay(3);
	MA_1 = 1;
	MA_2 = 0;
	MA_3 = 0;
	MA_4 = 0;	
	
	DDelay(3);
	MA_1 = 1;
	MA_2 = 0;
	MA_3 = 0;
	MA_4 = 1;
}



//unsigned char code M_B[8]={0xf9,0xf8,0xfc,0xf4,0xf6,0xf2,0xf3,0xf1}; //X正轉順序
void Motor_A2()
{
	DDelay(3);
	MA_1 = 1;
	MA_2 = 0;
	MA_3 = 0;
	MA_4 = 1;	
	DDelay(3);
	MA_1 = 1;
	MA_2 = 0;
	MA_3 = 0;
	MA_4 = 0;	
	
	DDelay(3);
	MA_1 = 1;
	MA_2 = 1;
	MA_3 = 0;
	MA_4 = 0;	
	
	DDelay(3);
	MA_1 = 0;
	MA_2 = 1;
	MA_3 = 0;
	MA_4 = 0;	
	
	DDelay(3);
	MA_1 = 0;
	MA_2 = 1;
	MA_3 = 1;
	MA_4 = 0;	
	
	DDelay(3);
	MA_1 = 0;
	MA_2 = 0;
	MA_3 = 1;
	MA_4 = 0;	
	
	DDelay(3);
	MA_1 = 0;
	MA_2 = 0;
	MA_3 = 1;
	MA_4 = 1;	
	
	DDelay(3);
	MA_1 = 0;
	MA_2 = 0;
	MA_3 = 0;
	MA_4 = 1;
}

void Motor_B1()
{
	DDelay(3);
	MB_1 = 0;
	MB_2 = 0;
	MB_3 = 0;
	MB_4 = 1;	
	DDelay(3);
	MB_1 = 0;
	MB_2 = 0;
	MB_3 = 1;
	MB_4 = 1;	
	
	DDelay(3);
	MB_1 = 0;
	MB_2 = 0;
	MB_3 = 1;
	MB_4 = 0;	
	
	DDelay(3);
	MB_1 = 0;
	MB_2 = 1;
	MB_3 = 1;
	MB_4 = 0;	
	
	DDelay(3);
	MB_1 = 0;
	MB_2 = 1;
	MB_3 = 0;
	MB_4 = 0;	
	
	DDelay(3);
	MB_1 = 1;
	MB_2 = 1;
	MB_3 = 0;
	MB_4 = 0;	
	
	DDelay(3);
	MB_1 = 1;
	MB_2 = 0;
	MB_3 = 0;
	MB_4 = 0;	
	
	DDelay(3);
	MB_1 = 1;
	MB_2 = 0;
	MB_3 = 0;
	MB_4 = 1;
}

void Motor_B2()
{
	DDelay(3);
	MB_1 = 1;
	MB_2 = 0;
	MB_3 = 0;
	MB_4 = 1;	
	DDelay(3);
	MB_1 = 1;
	MB_2 = 0;
	MB_3 = 0;
	MB_4 = 0;	
	
	DDelay(3);
	MB_1 = 1;
	MB_2 = 1;
	MB_3 = 0;
	MB_4 = 0;	
	
	DDelay(3);
	MB_1 = 0;
	MB_2 = 1;
	MB_3 = 0;
	MB_4 = 0;	
	
	DDelay(3);
	MB_1 = 0;
	MB_2 = 1;
	MB_3 = 1;
	MB_4 = 0;	
	
	DDelay(3);
	MB_1 = 0;
	MB_2 = 0;
	MB_3 = 1;
	MB_4 = 0;	
	
	DDelay(3);
	MB_1 = 0;
	MB_2 = 0;
	MB_3 = 1;
	MB_4 = 1;	
	
	DDelay(3);
	MB_1 = 0;
	MB_2 = 0;
	MB_3 = 0;
	MB_4 = 1;
}



void M_Con(uchar id,uchar dir,uint step)
{
	uchar i;
	if(id == 0)
	{
		if(dir == 0)
		{
			for(i=0;i=step2)
	{
		num = step1 - step2;
		for(i=0;i