写了两天的步进电机速度调节程序 ，还是没成功，高手来指点一下啊

启动加速过程，正反转控制已经基本实现，现在就是速度调节有问题，不能调节，请高手指点

 

 

#include<reg51.h>
#define uchar unsigned char
#define uint unsigned int
uchar code FFW[8]={0x01,0x03,0x02,0x06,0x04,0x0c,0x08,0x09};//转动数组
uchar code REV[8]={0xf9,0xf8,0xfc,0xf4,0xf6,0xf2,0xf3,0xf1};
uchar ffw_down,rev_down,speed_up_down,speed_down_down,stop_down;
uchar ffw_flag,rev_flag,speed_up_flag,speed_down_flag,stop_flag;//变量定义
int i,j,pp,ss,ttt,SET;

int TT = 30;
int kk = 20;

sbit ffw_moto = P3^4; //正转
sbit rev_moto = P3^5; //反转
sbit speed_up = P3^6; //加速
sbit speed_down = P3^7; //减速
sbit stop_moto = P3^2;  //停止

/****************按键延迟函数**********/
void delay(int tt)
{
 uchar a,b;
 for(a = tt;a > 0;a --)
  for(b = 0;b < 120;b ++);
}

/*************中断初始化***************/
void timer0_init(void)
{
 SET = 2000;    
    TMOD = 0x01;
 TR0 = 0;
    TH0=(65535 - SET) / 256;
    TL0=(65535 - SET) % 256;
 TR0 = 1;
 ET0 = 1;
    EA=1;
}

/***************按键扫描****************/
void key_scan(void)
{
 if(ffw_moto == 0)
 {
  delay(10);
  if(ffw_moto == 0) ffw_down = 1;
  if((ffw_down == 1)&&(ffw_moto == 1))
  {
   ffw_down = 0;
   ffw_flag = 1;
   rev_flag =0;
   stop_flag = 0;
  }
 }
 if(rev_moto == 0)
 {
  delay(10);
  if(rev_moto == 0)rev_down = 1;
  if((rev_down == 1)&&(rev_moto == 1))
  {
   rev_down = 0;
   rev_flag = 1;
   ffw_flag = 0;
   stop_flag = 0;
  }
 }
 if(speed_up == 0)
 {
  delay(10);
  if(speed_up == 0) speed_up_down = 1;
  if((speed_up_down == 1)&&(speed_up == 1))
  {
   speed_up_down = 0;
   speed_up_flag = 1;
   speed_down_flag = 0;
   stop_flag = 0;
  }
 }
 if(speed_down == 0)
 {
  delay(10);
  if(speed_down == 0)speed_down_down = 1;
  if((speed_down_down == 1) && (speed_down == 1))
  {
   speed_down_down = 0;
   speed_down_flag = 1;
   speed_up_flag = 0;
   stop_flag = 0;
  }
 }
 if(stop_moto == 0)
 {
  delay(10);
  if(stop_moto == 0) stop_down = 1;
  if((stop_down == 1)&&(stop_moto == 1))
  {
   stop_down = 0;
   stop_flag = 1;
   ffw_flag = 0;
   rev_flag = 0;
   speed_up_flag = 0;
   speed_down_flag = 0;
  }
 }

 

}

/*****************按键处理函数******************/
void key_chuli(void)
{
 key_scan();
 if(speed_down_flag == 1)   // 加速按键变量处理
 {
  kk = kk - 1;
  if(kk < 1) kk = 1;
 }
 if(speed_up_flag == 1)   //减速按键变量处理
 {
  kk = kk + 1;
  if(kk > 100)kk = 100;
 }
 if(stop_flag == 1) // 停止按键处理
 {
  P1 = 0x00;
 }
}

void timer0_isr(void) interrupt 1
{
 TR0 = 0;
 ET0 = 0;
    TH0=(65535-SET)/256;
    TL0=(65535-SET)%256;
 TR0 = 1;
 ET0 = 1;
/*************** 电机转动速度调节*********************/
  ss ++;
 if(ss >= kk)
 {
  ss = 0;
/******************启动加速阶段处理*********************/
  ttt --;
  if(ttt <= 1)
  { 
   if(j < TT)
   {
    j++;
    ttt = TT - j;
    }
   else
    j = TT;
   if(ttt <= 1) ttt = 0;

/*****************电机正向反向转动控制**********************/
   if(ffw_flag == 1)
   {
    P1 = FFW[i];  //正转数组
    i++;
    if(i >= 8)i = 0;
   }
    
   if(rev_flag == 1)
   {
    P1 = REV[i]; // 反转数组
    i++;
    if(i >= 8)i = 0;
   }
  }

  }
 
 
}

void main(void)
{
 ttt = TT;
 timer0_init();
    while(1)
    {
  key_chuli();
 }
}