void main()
{
initpwm();
adc_init();
while(1)
{
int i=adc_read(0);
i=i/4;
OCR0=i;
_delay_ms(10);
}
}
void main()
{
//CALL THE INITIALIZING FUNCTION
initport();
initpwm();
while(1)
{
indicator();
CalcError();
if((error == 0) && (s4+s5==2))
{
T1CON.TMR1ON = 0;
motor_LF(); //FWD AT FULL SPEED
motor_RF();
PWM1_CHANGE_DUTY(255);
PWM2_CHANGE_DUTY(255);
delay_ms(10);
}
if((s1+s2+s3+s4+s5+s6+s7+s8) == 0) //ROBOT HAS OVERSHOOT
{
T1CON.TMR1ON = 0;
if(lastreading == 'r') //CHECKS IF THE LAST SENSOR ACTIVATED WAS RIGHT
{
T1CON.TMR1ON = 0;
motor_RB(); //TURN RIGHT AT FULL SPEED
motor_LF();
PWM1_CHANGE_DUTY(255);
PWM2_CHANGE_DUTY(255);
delay_ms(10);
//error=0;
}
else if(lastreading == 'l') //CHECKS IF THE LAST SENSOR ACTIVATED WAS LEFT
{
T1CON.TMR1ON = 0;
motor_LB(); //TURN LEFT AT FULL SPEED
motor_RF();
PWM1_CHANGE_DUTY(255);
PWM2_CHANGE_DUTY(255);
delay_ms(10);
//error=0;
}
}
if ( counter>200)
{
T1CON.TMR1ON = 0;
PORTC.F7 = 0;
PORTC.F6 = 0;
PORTC.F5 = 0;
PORTC.F4 = 0;
while(1);
}
if( (s1+s2+s3+s4+s5+s6+s7) == 7 || (s2+s3+s4+s5+s6+s7+s8) == 7 || (s1+s2+s3+s4+s5+s6+s7+s8) == 8)
// TO STOP THE MOTOR AT THE END OF LINE
{
T1CON.TMR1ON = 1; // enable timer1
// delay_ms(3) ;
// if((s1+s2+s3+s4+s5+s6+s7+s8) == 0)
/* {
PORTC.F7 = 0;
PORTC.F6 = 0;
PORTC.F5 = 0;
PORTC.F4 = 0; */
}
else //ROBOT ON THE LINE
{
T1CON.TMR1ON = 0;
PROPORTIONAL = error * kp;
INTEGRAL += error ;
INTEGRAL *= ki;
DERIVATIVE = (error - perror);
correction = ( (PROPORTIONAL) + (INTEGRAL) + (DERIVATIVE*kd));
rightpulse = basespeed + (correction/2);
leftpulse = basespeed - (correction/2);
motor_RF();
motor_LF();
if(leftpulse > 255) //LEFT CORRECTION EXCEED
leftpulse = 255;
if(rightpulse > 255) //RIGHT CORRECTION EXCEED
rightpulse = 255;
if(leftpulse < 0) //LEFT CORRECTION EXCEED
leftpulse = 0;
if(rightpulse < 0) //RIGHT CORRECTION EXCEED
rightpulse = 0;
PWM1_CHANGE_DUTY(rightpulse);
PWM2_CHANGE_DUTY(leftpulse);
}
delay_ms(10);
}
}
