用单片机控制伺服电机实现简单的启停
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pwmb22118400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🙏 驱动伺服电机也需要加减速算法。 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。 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。 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{:lol:} 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 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 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。 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。
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.
/*===================================
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=
{
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