程序：
#include
#include
const char zHzhuan[7]={0x06,0x04,0x05,0x01,0x03,0x02,0x00};
const char fanzhuan[7]={0x06,0x02,0x03,0x01,0x05,0x004,0x00};
const int time[5]={4000,3200,2400,1600,800};/*脉冲宽度：0.05m,0.04ms,0.03ms,0.02ms,0.01ms*/
char num;   /*将要转动的步数*/
char direct;  /*转动方向，0为反转，1为正转*/
char num_run; /*已经转动的步数*/

void main(void)
    {
  DDRA=0x07;
  TCCR1A=0x00;
  TCCR1B=0x09;
  TIMSK=0x10;
  SREG|=0x80;
  while(1)
  {
    ;
  }
 }
 
#pragma interrupt_handler time1coma:5
void time1coma(void)
     {
   char i,j;  
   if(num>9)                       
   {
    if(num_run<5) OCR1A=time[num_run];                 /*增速*/
    else if(num_run>(num-5)) OCR1A=time[num-num_run];/*减速*/
   }
   else
   {
    i=(num+1)/2;
    if(num_run<(i)) OCR1A=time[num_run];             /*增速*/
    else OCR1A=time[num-num_run];                    /*减速*/
   }
   if(num_run    {
    j=num_run%6;
    if(direct==1) PORTA=zhzhuan[j];           
    else PORTA=fanzhuan[j];
    num_run+=1;
   }
   else
   {
    OCR1A=0x0fa0;