用单片机控制伺服电机实现简单的启停

qep*** · 发表于 2024-4-7 17:35:56

已知用p WM控制伺服电机。
在启停的时候需要低频运行中需要高频。
用pwmb 22118400不分频。周期为5000左右。占空比设置为2500。这个时候的。这个时候频率大约是4k满足伺服电机的控制环境。
一开始以为是。5000的周期是一秒。也就是这个数设置的越大不超过65535。频率就会越高。
现在看来不是这样的。现在的认知应该是5000是一个定时周期。在5000分度值之内设置占空比。
一开始实际设置的5万。现在看来设置5000更为合理。设置这个主要为了ao输出。0-25ma。设置个5000已经不错了。这样一来频率就可以到4000左右。然后用pwm5和6。去输出ao。也能正常使用。用pwm7。和pwm8。大约4k频率去驱动伺服电机就可以了。根据不同的占空比，应该就可以实现启停是降速。控制方设置在20毫秒的任务周期里。暂时就是这个想法还没有实际实践。还请懂的人评价一下这样对不对？谢谢🙏

社区*** · 发表于 2024-4-7 19:03:48

驱动伺服电机也需要加减速算法。

电子D*** · 发表于 2024-4-7 20:28:16

一般的伺服电机是用脉冲频率控制的速度，不是占空比。举个简单的例子，驱动器一千个脉冲转一圈，你用1K的脉冲去控制就是1rpm/s,10K的脉冲就是10rpm/s。要加减速就是先500hz，在慢慢的改变发脉冲的频率即可实现加速，占空比一般默认50%即可。

qep*** · 发表于 2024-4-7 21:43:13

电子DIY小家发表于 2024-4-7 20:28
一般的伺服电机是用脉冲频率控制的速度，不是占空比。举个简单的例子，驱动器一千个脉冲转一圈，你用1K的脉 ...

是的。我也是这么理解，可是51单片机不好随意修改频率。

电子D*** · 发表于 2024-4-7 22:42:14

qepuemc 发表于 2024-4-7 21:43
是的。我也是这么理解，可是51单片机不好随意修改频率。

pwm有8位的预分频寄存器pscr和16位的计数器arr，24位可以满足很多频率了，其次新款的可以代码修改主频了呢

qep*** · 发表于 2024-4-9 09:20:57

电子DIY小家发表于 2024-4-7 22:42
pwm有8位的预分频寄存器pscr和16位的计数器arr，24位可以满足很多频率了，其次新款的可以代码修改主频了 ...

咨询工程师了，只能设置一个频率

创隆*** · 发表于 2024-4-9 12:27:28

按着控制步进电机思路去进行，脉冲个数是圈数，脉冲频率是速度

qep*** · 发表于 2024-4-9 19:58:35

创隆科技发表于 2024-4-9 12:27
按着控制步进电机思路去进行，脉冲个数是圈数，脉冲频率是速度

今天测试好了。可以通过发PWM控制伺服转动。更改占空比也不会改变转速。无法实现缓启缓停。

qep*** · 发表于 2024-4-9 22:14:45

单片机控制伺服电机输出固定脉冲数控制。伺服电机分子分母未设置。输出用公共地和脉冲接收线两根即可。单片机在按钮按下后触发大约6万个脉冲后复位。伺服电机运行一会儿后停止。前提是中断设置为10k。

在这基础上就可以加更多东西了。

xiang*** · 发表于 2024-4-10 02:42:11

本帖最后由 xiangzichen 于 2024-4-10 02:50 编辑

做个定时周期表,每进一次定时器,修改定时值,表格啥样的,频率就跟着变化.
给你一个指数加速曲线,非常适合步进伺服电机升降速
启动的时候按照表格+1查询送到th,tl,降速时候反着来.这个表格是24m晶振,1000-80000的频率变化.

升降速表.png

/*===================================
晶振频率:24000000Hz
分频系数:1
总步数:2000
补偿:0
启动频率:1000
最高频率:80000
===================================*/
code u16 rise_table[2000]=
{
      0xA240,0xB036,0xBA8E,0xC27B,0xC8C9,0xCDEB,0xD228,0xD5BB,0xD8CA,0xDB6B,       //10
      0xDDB8,0xDFBD,0xE188,0xE322,0xE492,0xE5DF,0xE70B,0xE81E,0xE91B,0xEA03,       //20
      0xEAD8,0xEB9D,0xEC55,0xECFF,0xED9E,0xEE32,0xEEBD,0xEF40,0xEFBB,0xF02E,       //30
      0xF09C,0xF103,0xF165,0xF1C2,0xF21A,0xF26D,0xF2BD,0xF309,0xF352,0xF397,       //40
      0xF3D9,0xF419,0xF455,0xF48F,0xF4C7,0xF4FD,0xF531,0xF562,0xF592,0xF5C0,       //50
      0xF5EC,0xF617,0xF640,0xF668,0xF68F,0xF6B4,0xF6D8,0xF6FB,0xF71D,0xF73E,       //60
      0xF75E,0xF77C,0xF79A,0xF7B7,0xF7D3,0xF7EF,0xF809,0xF823,0xF83D,0xF855,       //70
      0xF86D,0xF884,0xF89B,0xF8B1,0xF8C6,0xF8DB,0xF8F0,0xF904,0xF917,0xF92A,       //80
      0xF93D,0xF94F,0xF961,0xF972,0xF983,0xF994,0xF9A4,0xF9B4,0xF9C3,0xF9D2,       //90
      0xF9E1,0xF9F0,0xF9FE,0xFA0C,0xFA1A,0xFA27,0xFA34,0xFA41,0xFA4E,0xFA5A,       //100
      0xFA66,0xFA72,0xFA7E,0xFA8A,0xFA95,0xFAA0,0xFAAB,0xFAB6,0xFAC0,0xFACA,       //110
      0xFAD5,0xFADF,0xFAE8,0xFAF2,0xFAFB,0xFB05,0xFB0E,0xFB17,0xFB20,0xFB28,       //120
      0xFB31,0xFB39,0xFB42,0xFB4A,0xFB52,0xFB5A,0xFB62,0xFB69,0xFB71,0xFB78,       //130
      0xFB80,0xFB87,0xFB8E,0xFB95,0xFB9C,0xFBA3,0xFBAA,0xFBB0,0xFBB7,0xFBBD,       //140
      0xFBC4,0xFBCA,0xFBD0,0xFBD6,0xFBDC,0xFBE2,0xFBE8,0xFBEE,0xFBF3,0xFBF9,       //150
      0xFBFF,0xFC04,0xFC0A,0xFC0F,0xFC14,0xFC19,0xFC1F,0xFC24,0xFC29,0xFC2E,       //160
      0xFC33,0xFC37,0xFC3C,0xFC41,0xFC46,0xFC4A,0xFC4F,0xFC53,0xFC58,0xFC5C,       //170
      0xFC60,0xFC65,0xFC69,0xFC6D,0xFC71,0xFC75,0xFC7A,0xFC7E,0xFC82,0xFC85,       //180
      0xFC89,0xFC8D,0xFC91,0xFC95,0xFC98,0xFC9C,0xFCA0,0xFCA3,0xFCA7,0xFCAB,       //190
      0xFCAE,0xFCB1,0xFCB5,0xFCB8,0xFCBC,0xFCBF,0xFCC2,0xFCC5,0xFCC9,0xFCCC,       //200
      0xFCCF,0xFCD2,0xFCD5,0xFCD8,0xFCDB,0xFCDE,0xFCE1,0xFCE4,0xFCE7,0xFCEA,       //210
      0xFCED,0xFCF0,0xFCF3,0xFCF5,0xFCF8,0xFCFB,0xFCFE,0xFD00,0xFD03,0xFD06,       //220
      0xFD08,0xFD0B,0xFD0D,0xFD10,0xFD12,0xFD15,0xFD17,0xFD1A,0xFD1C,0xFD1F,       //230
      0xFD21,0xFD23,0xFD26,0xFD28,0xFD2A,0xFD2D,0xFD2F,0xFD31,0xFD34,0xFD36,       //240
      0xFD38,0xFD3A,0xFD3C,0xFD3E,0xFD41,0xFD43,0xFD45,0xFD47,0xFD49,0xFD4B,       //250
      0xFD4D,0xFD4F,0xFD51,0xFD53,0xFD55,0xFD57,0xFD59,0xFD5B,0xFD5D,0xFD5E,       //260
      0xFD60,0xFD62,0xFD64,0xFD66,0xFD68,0xFD69,0xFD6B,0xFD6D,0xFD6F,0xFD70,       //270
      0xFD72,0xFD74,0xFD76,0xFD77,0xFD79,0xFD7B,0xFD7C,0xFD7E,0xFD80,0xFD81,       //280
      0xFD83,0xFD84,0xFD86,0xFD88,0xFD89,0xFD8B,0xFD8C,0xFD8E,0xFD8F,0xFD91,       //290
      0xFD92,0xFD94,0xFD95,0xFD97,0xFD98,0xFD9A,0xFD9B,0xFD9D,0xFD9E,0xFD9F,       //300
      0xFDA1,0xFDA2,0xFDA3,0xFDA5,0xFDA6,0xFDA8,0xFDA9,0xFDAA,0xFDAC,0xFDAD,       //310
      0xFDAE,0xFDB0,0xFDB1,0xFDB2,0xFDB3,0xFDB5,0xFDB6,0xFDB7,0xFDB8,0xFDBA,       //320
      0xFDBB,0xFDBC,0xFDBD,0xFDBE,0xFDC0,0xFDC1,0xFDC2,0xFDC3,0xFDC4,0xFDC6,       //330
      0xFDC7,0xFDC8,0xFDC9,0xFDCA,0xFDCB,0xFDCC,0xFDCD,0xFDCF,0xFDD0,0xFDD1,       //340
      0xFDD2,0xFDD3,0xFDD4,0xFDD5,0xFDD6,0xFDD7,0xFDD8,0xFDD9,0xFDDA,0xFDDB,       //350
      0xFDDC,0xFDDD,0xFDDE,0xFDDF,0xFDE0,0xFDE1,0xFDE2,0xFDE3,0xFDE4,0xFDE5,       //360
      0xFDE6,0xFDE7,0xFDE8,0xFDE9,0xFDEA,0xFDEB,0xFDEC,0xFDED,0xFDEE,0xFDEF,       //370
      0xFDEF,0xFDF0,0xFDF1,0xFDF2,0xFDF3,0xFDF4,0xFDF5,0xFDF6,0xFDF7,0xFDF7,       //380
      0xFDF8,0xFDF9,0xFDFA,0xFDFB,0xFDFC,0xFDFC,0xFDFD,0xFDFE,0xFDFF,0xFE00,       //390
      0xFE01,0xFE01,0xFE02,0xFE03,0xFE04,0xFE05,0xFE05,0xFE06,0xFE07,0xFE08,       //400
      0xFE08,0xFE09,0xFE0A,0xFE0B,0xFE0C,0xFE0C,0xFE0D,0xFE0E,0xFE0F,0xFE0F,       //410
      0xFE10,0xFE11,0xFE11,0xFE12,0xFE13,0xFE14,0xFE14,0xFE15,0xFE16,0xFE16,       //420
      0xFE17,0xFE18,0xFE18,0xFE19,0xFE1A,0xFE1B,0xFE1B,0xFE1C,0xFE1D,0xFE1D,       //430
      0xFE1E,0xFE1F,0xFE1F,0xFE20,0xFE20,0xFE21,0xFE22,0xFE22,0xFE23,0xFE24,       //440
      0xFE24,0xFE25,0xFE26,0xFE26,0xFE27,0xFE27,0xFE28,0xFE29,0xFE29,0xFE2A,       //450
      0xFE2A,0xFE2B,0xFE2C,0xFE2C,0xFE2D,0xFE2D,0xFE2E,0xFE2F,0xFE2F,0xFE30,       //460
      0xFE30,0xFE31,0xFE31,0xFE32,0xFE33,0xFE33,0xFE34,0xFE34,0xFE35,0xFE35,       //470
      0xFE36,0xFE36,0xFE37,0xFE38,0xFE38,0xFE39,0xFE39,0xFE3A,0xFE3A,0xFE3B,       //480
      0xFE3B,0xFE3C,0xFE3C,0xFE3D,0xFE3D,0xFE3E,0xFE3E,0xFE3F,0xFE3F,0xFE40,       //490
      0xFE40,0xFE41,0xFE41,0xFE42,0xFE42,0xFE43,0xFE43,0xFE44,0xFE44,0xFE45,       //500
      0xFE45,0xFE46,0xFE46,0xFE47,0xFE47,0xFE48,0xFE48,0xFE49,0xFE49,0xFE49,       //510
      0xFE4A,0xFE4A,0xFE4B,0xFE4B,0xFE4C,0xFE4C,0xFE4D,0xFE4D,0xFE4D,0xFE4E,       //520
      0xFE4E,0xFE4F,0xFE4F,0xFE50,0xFE50,0xFE51,0xFE51,0xFE51,0xFE52,0xFE52,       //530
      0xFE53,0xFE53,0xFE54,0xFE54,0xFE54,0xFE55,0xFE55,0xFE56,0xFE56,0xFE56,       //540
      0xFE57,0xFE57,0xFE58,0xFE58,0xFE58,0xFE59,0xFE59,0xFE5A,0xFE5A,0xFE5A,       //550
      0xFE5B,0xFE5B,0xFE5C,0xFE5C,0xFE5C,0xFE5D,0xFE5D,0xFE5D,0xFE5E,0xFE5E,       //560
      0xFE5F,0xFE5F,0xFE5F,0xFE60,0xFE60,0xFE60,0xFE61,0xFE61,0xFE61,0xFE62,       //570
      0xFE62,0xFE63,0xFE63,0xFE63,0xFE64,0xFE64,0xFE64,0xFE65,0xFE65,0xFE65,       //580
      0xFE66,0xFE66,0xFE66,0xFE67,0xFE67,0xFE67,0xFE68,0xFE68,0xFE68,0xFE69,       //590
      0xFE69,0xFE69,0xFE6A,0xFE6A,0xFE6A,0xFE6B,0xFE6B,0xFE6B,0xFE6C,0xFE6C,       //600
      0xFE6C,0xFE6D,0xFE6D,0xFE6D,0xFE6E,0xFE6E,0xFE6E,0xFE6F,0xFE6F,0xFE6F,       //610
      0xFE6F,0xFE70,0xFE70,0xFE70,0xFE71,0xFE71,0xFE71,0xFE72,0xFE72,0xFE72,       //620
      0xFE72,0xFE73,0xFE73,0xFE73,0xFE74,0xFE74,0xFE74,0xFE75,0xFE75,0xFE75,       //630
      0xFE75,0xFE76,0xFE76,0xFE76,0xFE77,0xFE77,0xFE77,0xFE77,0xFE78,0xFE78,       //640
      0xFE78,0xFE78,0xFE79,0xFE79,0xFE79,0xFE7A,0xFE7A,0xFE7A,0xFE7A,0xFE7B,       //650
      0xFE7B,0xFE7B,0xFE7B,0xFE7C,0xFE7C,0xFE7C,0xFE7C,0xFE7D,0xFE7D,0xFE7D,       //660
      0xFE7D,0xFE7E,0xFE7E,0xFE7E,0xFE7F,0xFE7F,0xFE7F,0xFE7F,0xFE80,0xFE80,       //670
      0xFE80,0xFE80,0xFE80,0xFE81,0xFE81,0xFE81,0xFE81,0xFE82,0xFE82,0xFE82,       //680
      0xFE82,0xFE83,0xFE83,0xFE83,0xFE83,0xFE84,0xFE84,0xFE84,0xFE84,0xFE85,       //690
      0xFE85,0xFE85,0xFE85,0xFE85,0xFE86,0xFE86,0xFE86,0xFE86,0xFE87,0xFE87,       //700
      0xFE87,0xFE87,0xFE88,0xFE88,0xFE88,0xFE88,0xFE88,0xFE89,0xFE89,0xFE89,       //710
      0xFE89,0xFE89,0xFE8A,0xFE8A,0xFE8A,0xFE8A,0xFE8B,0xFE8B,0xFE8B,0xFE8B,       //720
      0xFE8B,0xFE8C,0xFE8C,0xFE8C,0xFE8C,0xFE8C,0xFE8D,0xFE8D,0xFE8D,0xFE8D,       //730
      0xFE8D,0xFE8E,0xFE8E,0xFE8E,0xFE8E,0xFE8E,0xFE8F,0xFE8F,0xFE8F,0xFE8F,       //740
      0xFE8F,0xFE90,0xFE90,0xFE90,0xFE90,0xFE90,0xFE91,0xFE91,0xFE91,0xFE91,       //750
      0xFE91,0xFE92,0xFE92,0xFE92,0xFE92,0xFE92,0xFE92,0xFE93,0xFE93,0xFE93,       //760
      0xFE93,0xFE93,0xFE94,0xFE94,0xFE94,0xFE94,0xFE94,0xFE94,0xFE95,0xFE95,       //770
      0xFE95,0xFE95,0xFE95,0xFE96,0xFE96,0xFE96,0xFE96,0xFE96,0xFE96,0xFE97,       //780
      0xFE97,0xFE97,0xFE97,0xFE97,0xFE97,0xFE98,0xFE98,0xFE98,0xFE98,0xFE98,       //790
      0xFE98,0xFE99,0xFE99,0xFE99,0xFE99,0xFE99,0xFE99,0xFE9A,0xFE9A,0xFE9A,       //800
      0xFE9A,0xFE9A,0xFE9A,0xFE9B,0xFE9B,0xFE9B,0xFE9B,0xFE9B,0xFE9B,0xFE9C,       //810
      0xFE9C,0xFE9C,0xFE9C,0xFE9C,0xFE9C,0xFE9C,0xFE9D,0xFE9D,0xFE9D,0xFE9D,       //820
      0xFE9D,0xFE9D,0xFE9E,0xFE9E,0xFE9E,0xFE9E,0xFE9E,0xFE9E,0xFE9E,0xFE9F,       //830
      0xFE9F,0xFE9F,0xFE9F,0xFE9F,0xFE9F,0xFE9F,0xFEA0,0xFEA0,0xFEA0,0xFEA0,       //840
      0xFEA0,0xFEA0,0xFEA0,0xFEA1,0xFEA1,0xFEA1,0xFEA1,0xFEA1,0xFEA1,0xFEA1,       //850
      0xFEA2,0xFEA2,0xFEA2,0xFEA2,0xFEA2,0xFEA2,0xFEA2,0xFEA3,0xFEA3,0xFEA3,       //860
      0xFEA3,0xFEA3,0xFEA3,0xFEA3,0xFEA3,0xFEA4,0xFEA4,0xFEA4,0xFEA4,0xFEA4,       //870
      0xFEA4,0xFEA4,0xFEA5,0xFEA5,0xFEA5,0xFEA5,0xFEA5,0xFEA5,0xFEA5,0xFEA5,       //880
      0xFEA6,0xFEA6,0xFEA6,0xFEA6,0xFEA6,0xFEA6,0xFEA6,0xFEA6,0xFEA7,0xFEA7,       //890
      0xFEA7,0xFEA7,0xFEA7,0xFEA7,0xFEA7,0xFEA7,0xFEA8,0xFEA8,0xFEA8,0xFEA8,       //900
      0xFEA8,0xFEA8,0xFEA8,0xFEA8,0xFEA9,0xFEA9,0xFEA9,0xFEA9,0xFEA9,0xFEA9,       //910
      0xFEA9,0xFEA9,0xFEA9,0xFEAA,0xFEAA,0xFEAA,0xFEAA,0xFEAA,0xFEAA,0xFEAA,       //920
      0xFEAA,0xFEAA,0xFEAB,0xFEAB,0xFEAB,0xFEAB,0xFEAB,0xFEAB,0xFEAB,0xFEAB,       //930
      0xFEAB,0xFEAC,0xFEAC,0xFEAC,0xFEAC,0xFEAC,0xFEAC,0xFEAC,0xFEAC,0xFEAC,       //940
      0xFEAD,0xFEAD,0xFEAD,0xFEAD,0xFEAD,0xFEAD,0xFEAD,0xFEAD,0xFEAD,0xFEAE,       //950
      0xFEAE,0xFEAE,0xFEAE,0xFEAE,0xFEAE,0xFEAE,0xFEAE,0xFEAE,0xFEAE,0xFEAF,       //960
      0xFEAF,0xFEAF,0xFEAF,0xFEAF,0xFEAF,0xFEAF,0xFEAF,0xFEAF,0xFEAF,0xFEB0,       //970
      0xFEB0,0xFEB0,0xFEB0,0xFEB0,0xFEB0,0xFEB0,0xFEB0,0xFEB0,0xFEB0,0xFEB1,       //980
      0xFEB1,0xFEB1,0xFEB1,0xFEB1,0xFEB1,0xFEB1,0xFEB1,0xFEB1,0xFEB1,0xFEB1,       //990
      0xFEB2,0xFEB2,0xFEB2,0xFEB2,0xFEB2,0xFEB2,0xFEB2,0xFEB2,0xFEB2,0xFEB2,       //1000
      0xFEB2,0xFEB3,0xFEB3,0xFEB3,0xFEB3,0xFEB3,0xFEB3,0xFEB3,0xFEB3,0xFEB3,       //1010
      0xFEB3,0xFEB3,0xFEB4,0xFEB4,0xFEB4,0xFEB4,0xFEB4,0xFEB4,0xFEB4,0xFEB4,       //1020
      0xFEB4,0xFEB4,0xFEB4,0xFEB4,0xFEB5,0xFEB5,0xFEB5,0xFEB5,0xFEB5,0xFEB5,       //1030
      0xFEB5,0xFEB5,0xFEB5,0xFEB5,0xFEB5,0xFEB5,0xFEB6,0xFEB6,0xFEB6,0xFEB6,       //1040
      0xFEB6,0xFEB6,0xFEB6,0xFEB6,0xFEB6,0xFEB6,0xFEB6,0xFEB6,0xFEB7,0xFEB7,       //1050
      0xFEB7,0xFEB7,0xFEB7,0xFEB7,0xFEB7,0xFEB7,0xFEB7,0xFEB7,0xFEB7,0xFEB7,       //1060
      0xFEB7,0xFEB8,0xFEB8,0xFEB8,0xFEB8,0xFEB8,0xFEB8,0xFEB8,0xFEB8,0xFEB8,       //1070
      0xFEB8,0xFEB8,0xFEB8,0xFEB8,0xFEB9,0xFEB9,0xFEB9,0xFEB9,0xFEB9,0xFEB9,       //1080
      0xFEB9,0xFEB9,0xFEB9,0xFEB9,0xFEB9,0xFEB9,0xFEB9,0xFEB9,0xFEBA,0xFEBA,       //1090
      0xFEBA,0xFEBA,0xFEBA,0xFEBA,0xFEBA,0xFEBA,0xFEBA,0xFEBA,0xFEBA,0xFEBA,       //1100
      0xFEBA,0xFEBA,0xFEBB,0xFEBB,0xFEBB,0xFEBB,0xFEBB,0xFEBB,0xFEBB,0xFEBB,       //1110
      0xFEBB,0xFEBB,0xFEBB,0xFEBB,0xFEBB,0xFEBB,0xFEBB,0xFEBC,0xFEBC,0xFEBC,       //1120
      0xFEBC,0xFEBC,0xFEBC,0xFEBC,0xFEBC,0xFEBC,0xFEBC,0xFEBC,0xFEBC,0xFEBC,       //1130
      0xFEBC,0xFEBC,0xFEBD,0xFEBD,0xFEBD,0xFEBD,0xFEBD,0xFEBD,0xFEBD,0xFEBD,       //1140
      0xFEBD,0xFEBD,0xFEBD,0xFEBD,0xFEBD,0xFEBD,0xFEBD,0xFEBD,0xFEBE,0xFEBE,       //1150
      0xFEBE,0xFEBE,0xFEBE,0xFEBE,0xFEBE,0xFEBE,0xFEBE,0xFEBE,0xFEBE,0xFEBE,       //1160
      0xFEBE,0xFEBE,0xFEBE,0xFEBE,0xFEBE,0xFEBF,0xFEBF,0xFEBF,0xFEBF,0xFEBF,       //1170
      0xFEBF,0xFEBF,0xFEBF,0xFEBF,0xFEBF,0xFEBF,0xFEBF,0xFEBF,0xFEBF,0xFEBF,       //1180
      0xFEBF,0xFEBF,0xFEC0,0xFEC0,0xFEC0,0xFEC0,0xFEC0,0xFEC0,0xFEC0,0xFEC0,       //1190
      0xFEC0,0xFEC0,0xFEC0,0xFEC0,0xFEC0,0xFEC0,0xFEC0,0xFEC0,0xFEC0,0xFEC0,       //1200
      0xFEC1,0xFEC1,0xFEC1,0xFEC1,0xFEC1,0xFEC1,0xFEC1,0xFEC1,0xFEC1,0xFEC1,       //1210
      0xFEC1,0xFEC1,0xFEC1,0xFEC1,0xFEC1,0xFEC1,0xFEC1,0xFEC1,0xFEC1,0xFEC2,       //1220
      0xFEC2,0xFEC2,0xFEC2,0xFEC2,0xFEC2,0xFEC2,0xFEC2,0xFEC2,0xFEC2,0xFEC2,       //1230
      0xFEC2,0xFEC2,0xFEC2,0xFEC2,0xFEC2,0xFEC2,0xFEC2,0xFEC2,0xFEC2,0xFEC2,       //1240
      0xFEC3,0xFEC3,0xFEC3,0xFEC3,0xFEC3,0xFEC3,0xFEC3,0xFEC3,0xFEC3,0xFEC3,       //1250
      0xFEC3,0xFEC3,0xFEC3,0xFEC3,0xFEC3,0xFEC3,0xFEC3,0xFEC3,0xFEC3,0xFEC3,       //1260
      0xFEC3,0xFEC4,0xFEC4,0xFEC4,0xFEC4,0xFEC4,0xFEC4,0xFEC4,0xFEC4,0xFEC4,       //1270
      0xFEC4,0xFEC4,0xFEC4,0xFEC4,0xFEC4,0xFEC4,0xFEC4,0xFEC4,0xFEC4,0xFEC4,       //1280
      0xFEC4,0xFEC4,0xFEC4,0xFEC5,0xFEC5,0xFEC5,0xFEC5,0xFEC5,0xFEC5,0xFEC5,       //1290
      0xFEC5,0xFEC5,0xFEC5,0xFEC5,0xFEC5,0xFEC5,0xFEC5,0xFEC5,0xFEC5,0xFEC5,       //1300
      0xFEC5,0xFEC5,0xFEC5,0xFEC5,0xFEC5,0xFEC5,0xFEC5,0xFEC6,0xFEC6,0xFEC6,       //1310
      0xFEC6,0xFEC6,0xFEC6,0xFEC6,0xFEC6,0xFEC6,0xFEC6,0xFEC6,0xFEC6,0xFEC6,       //1320
      0xFEC6,0xFEC6,0xFEC6,0xFEC6,0xFEC6,0xFEC6,0xFEC6,0xFEC6,0xFEC6,0xFEC6,       //1330
      0xFEC6,0xFEC6,0xFEC7,0xFEC7,0xFEC7,0xFEC7,0xFEC7,0xFEC7,0xFEC7,0xFEC7,       //1340
      0xFEC7,0xFEC7,0xFEC7,0xFEC7,0xFEC7,0xFEC7,0xFEC7,0xFEC7,0xFEC7,0xFEC7,       //1350
      0xFEC7,0xFEC7,0xFEC7,0xFEC7,0xFEC7,0xFEC7,0xFEC7,0xFEC7,0xFEC8,0xFEC8,       //1360
      0xFEC8,0xFEC8,0xFEC8,0xFEC8,0xFEC8,0xFEC8,0xFEC8,0xFEC8,0xFEC8,0xFEC8,       //1370
      0xFEC8,0xFEC8,0xFEC8,0xFEC8,0xFEC8,0xFEC8,0xFEC8,0xFEC8,0xFEC8,0xFEC8,       //1380
      0xFEC8,0xFEC8,0xFEC8,0xFEC8,0xFEC8,0xFEC8,0xFEC8,0xFEC9,0xFEC9,0xFEC9,       //1390
      0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFEC9,       //1400
      0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFEC9,       //1410
      0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFEC9,0xFECA,0xFECA,       //1420
      0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,       //1430
      0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,       //1440
      0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,0xFECA,       //1450
      0xFECA,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,       //1460
      0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,       //1470
      0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,       //1480
      0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECB,0xFECC,0xFECC,0xFECC,       //1490
      0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,       //1500
      0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,       //1510
      0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,       //1520
      0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECC,0xFECD,0xFECD,0xFECD,0xFECD,       //1530
      0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,       //1540
      0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,       //1550
      0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,       //1560
      0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECD,0xFECE,       //1570
      0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,       //1580
      0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,       //1590
      0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,       //1600
      0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,       //1610
      0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECE,0xFECF,0xFECF,0xFECF,       //1620
      0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,       //1630
      0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,       //1640
      0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,       //1650
      0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,       //1660
      0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,0xFECF,       //1670
      0xFECF,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,       //1680
      0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,       //1690
      0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,       //1700
      0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,       //1710
      0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,       //1720
      0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,0xFED0,       //1730
      0xFED0,0xFED0,0xFED0,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,       //1740
      0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,       //1750
      0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,       //1760
      0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,       //1770
      0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,       //1780
      0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,       //1790
      0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,       //1800
      0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED1,0xFED2,0xFED2,0xFED2,0xFED2,       //1810
      0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,       //1820
      0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,       //1830
      0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,       //1840
      0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,       //1850
      0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,       //1860
      0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,       //1870
      0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,       //1880
      0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,0xFED2,       //1890
      0xFED2,0xFED2,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,       //1900
      0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,       //1910
      0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,       //1920
      0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,       //1930
      0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,       //1940
      0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,       //1950
      0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,       //1960
      0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,       //1970
      0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,       //1980
      0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,       //1990
      0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED3,0xFED4       //2000
};//49.9215毫秒

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