void align_cw(void)
{
PORTG=0x00;
clockwise=1;
counterwise=0;
PORTG&=~(1<<0);
PORTC=0x01;
unsigned char degree;
degree_set_new=eeprom_read_byte(25);
if(degree_set_new<12) // keeping 120 in mind
{
for(degree=0;degree<50;degree++)
{
PORTC=0xff;
_delay_us(555);
PORTG|=(1<<4);
_delay_us(5);
PORTG&=~(1<<4);
}
degree_set_new++;
eeprom_write_byte(25,degree_set_new);
}
lcd_gotoxy2(5);
lcd_string(" ");
lcd_gotoxy2(0);
lcd_string("CW=");
lcd_num(eeprom_read_byte(25));
}
void motor_execute(void)
{cli();
unsigned char degree_exec_cw;
unsigned char degree_exec;
unsigned char degree_exec_ccw;
unsigned char variance;
degree_set_new=eeprom_read_byte(25);
for(degree_exec_cw=degree_set_new;degree_exec_cw<600;) // 600 for 6000 degrees
{
PORTC=0x33;
motor_dir_cw();
for(degree=0;degree<50;degree++)
{cli();
PORTG|=(1<<4);
_delay_us(555);
PORTG&=~(1<<4);
_delay_us(5);
}
degree_exec_cw++;
eeprom_write_byte(25,degree_exec_cw);
//sei();
_delay_ms(4);
if (flag==1)
{
degree_exec_cw=eeprom_read_byte(25);
lcd_gotoxy2(13);
lcd_num(degree_exec_cw);
_delay_ms(300);
PORTC=0x01;
}
//_delay_ms(240000);
lcd_gotoxy1(10);
lcd_string(" ");
lcd_gotoxy1(10);
lcd_num(eeprom_read_byte(25));
}
for(degree_exec_ccw=600;degree_exec_ccw>1;)
{ PORTC=0x77;
//cli();
motor_dir_ccw();
for(degree=0;degree<50;degree++)
{
PORTG|=(1<<4);
_delay_us(555);
PORTG&=~(1<<4);
_delay_us(5);
}
degree_exec_ccw--;
eeprom_write_byte(25,degree_exec_ccw);
lcd_gotoxy1(10);
lcd_string(" ");
lcd_gotoxy1(10);
lcd_num(eeprom_read_byte(25));
//sei();
}
sei();
}
int main(void)
{
DDRD |=(1<<4)|(1<<5); //initialising PORTS of motors
DDRD |=(1<<6)|(1<<7);
DDRB |=(1<<0)|(1<<1); // lifting motor initialization
DDRC |=(1<<3);// initialising port of buzzer .
DDRD |=(1<<1);
PORTB |= (1<<5); // activating pullups for switch
lcd_init();
PORTC|= (1<<1); // initialising lcd
lcd_gotoxy1(0);
//init(); //adc initialization
while(1)
{
c1=0;
lcd_gotoxy1(0);
lcd_string("x:");
lcd_showvalue1(currx);
lcd_string("y:");
lcd_showvalue1(curry);
lcd_string("o:");
lcd_showvalue1(ori);
linefollower();
update();
takecareofobject();
c1 = decide();
inch();
turn(c1);
lcd_gotoxy2(0);
lcd_char(c1);
lcd_string("ox : ");
lcd_showvalue1(objx);
lcd_string("oy : ");
lcd_showvalue1(objy);
//if((PINA & (1<<1))||(PINA & (1<<5)))
//f2=0;
if(c1=='N')
break;
}
}
