void main() {
trisb=0b11111011;
uart1_init(2400);
PWM1_Init(30000);
PWM1_Set_Duty(127);
PWM1_Start();
for(;;){
if(portb.f0==0)
{
uart1_write('a');
}while(portb.f0==0);
if(portb.f4==0)
{
uart1_write('a');
}while(portb.f4==0);
if(portb.f5==0)
{
uart1_write('b');
}while(portb.f5==0);
if(portb.f6==0)
{
uart1_write('c');
}while(portb.f6==0);
}
}
void initpwm()
{
PWM1_Init(5000);
PWM2_Init(5000);
Pwm1_Start(); //RIGHT MOTOR
Pwm2_Start(); //LEFT MOTOR
}
/*
** ===================================================================
** Method : PWMTpm1_Construct
** Description : Metodo Construir el PWMTpm1
** ===================================================================
*/
void PWMTpm1_Construct(struct PWMTpm1* self,TConfPWM * conf){
PWM_Construct(self,conf);
/* Listo*/
PWM1_Init();
pwm1_setperiodo (conf->period);
}
void InitMain() {
PORTA = 255;
TRISA = 255; // configure PORTA pins as input
PORTB = 0; // set PORTB to 0
TRISB = 0; // designate PORTB pins as output
PORTC = 0; // set PORTC to 0
TRISC = 0; // designate PORTC pins as output
PWM1_Init(10000); // Initialize PWM1 module at 5KHz
PWM2_Init(10000); // Initialize PWM2 module at 5KHz}
}
void initRobot()
{
//--PWM------------
TRISC = 0b00000000;
PORTC = 0b00000000;
PWM1_Init(5000);
PWM2_Init(5000);
Pwm1_Start();
Pwm2_Start();
//--ADC-----------_
ADCON1 = 0x80; // Configure analog inputs and Vref
TRISA = 0xFF; // PORTA is input
//--Usart---------
Usart_Init(9600);
}
void main() {
OPTION_REG = 0x83; // Set timer TMR0
TMR0 = 131;
INTCON = 0xA0; // Disable interrupt PEIE,INTE,RBIE,T0IE
PORTA = 0; // Turn off both displays
TRISA = 0; // All port A pins are configured as outputs
PORTC = 0; // Turn off all display segments
TRISC = 0; // All port D pins are configured as outputs
C1ON_bit = 0; // Disable comparators
C2ON_bit = 0;
PWM1_Init(500);
counter = 0;
segundos = 0;
minutos = 0;
horas = 0;
while (1) {
}
}
void main()
{ ADCON0 = 0; //adc =0
ADCON1 = 0xF0; // Set all A/D pins as digital I/O pins.
TRISA = 0X00;
TRISC = 0x00;
PORTC = 0X00;
PORTA = 0b01010000;
PWM1_Init(5000);
PWM2_Init(5000);
Pwm1_Start();
Pwm2_Start();
while(1)
{
PWM1_Set_Duty(210);
PWM2_Set_Duty(135);
Delay_ms(10000);
PWM1_Set_Duty(255);
PWM2_Set_Duty(255);
Delay_ms(10000);
PWM1_STOP();
PWM2_STOP();
}
}
void main() {
char p1;
unsigned int Duty;
char tmp;
OSCCON = 0b01111100;
OSCCON2 = 0b10000111;
OSCTUNE = 0b01000000;
ADCON0 = 0;
CCP1CON = 0;
CCP2CON = 0;
CCP3CON = 0;
PWM1_Init( 44000 );
PWM1_Start();
x1 = 0;
xStep = 1;
TRISB4_bit = 1;
TRISB5_bit = 1;
InitTimer1();
while(1)
{
if( PORTB.B4 == 1) // Play Cat Meow
{
x1 = 0;
wavSel = 0;
T1CON = 0x01;
Delay_ms(250);
}
if( PORTB.B5 == 1) // Play Dog Bark
{
x1 = 0;
wavSel = 1;
T1CON = 0x01;
Delay_ms(250);
}
}
}
void main() {
current_duty=125;
Lcd_Init(); // Initialize LCD
Lcd_Cmd(_LCD_CLEAR); // Clear display
Lcd_Cmd(_LCD_CURSOR_OFF); // Cursor off
//LCD_show();
DDRB = 0xFF; // Set PORTB as output
//DDRC = 0xFF; // Set PORTC as output
Lcd_Cmd(_LCD_CLEAR);
Flag=3;
PWM1_Init(_PWM1_FAST_MODE, _PWM1_PRESCALER_8, _PWM1_NON_INVERTED, current_duty);
while (1) {
LDR_1 = ADC_Read(0); // get ADC value from 2nd channel
LDR_2 = ADC_Read(1);
LDR_3 = ADC_Read(2);
LDR_4 = ADC_Read(3);
LDR_5 = ADC_Read(4);
prev_pos=Flag;
if (LDR_1<LDR_2 && LDR_1<LDR_3 && LDR_1<LDR_4)
{
Flag=1;
}
else if (LDR_2<LDR_1 && LDR_2<LDR_3 && LDR_2<LDR_4)
{
Flag=2;
}
else if (LDR_3<LDR_1 && LDR_3<LDR_2 && LDR_3<LDR_4)
{
Flag=3;
}
else if (LDR_4<LDR_1 && LDR_4<LDR_2 && LDR_4<LDR_3)
{
Flag=4;
}
goal=Flag;
Lcd_Cmd(_LCD_CLEAR);
IntToStr(goal,adc_show1);
IntToStr(prev_pos,adc_show2);
IntToStr(LDR_3,adc_show3);
IntToStr(LDR_4,adc_show4);
IntToStr(LDR_5,adc_show5);
Lcd_Out(1,1,adc_show1);
Lcd_Out(1,8,adc_show2);
//Lcd_Out(2,1,adc_show3);
//Lcd_Out(2,6,adc_show4);
//Delay_ms(5000);
//Lcd_Out(2,10,adc_show5);
//
/*Lcd_Out(1,1,txt5);
IntToStr(LDR_1,adc_show);
Lcd_Out(2,1,adc_show);
Delay_ms(5000);
Lcd_Cmd(_LCD_CLEAR);
Delay_ms(1000);
//
Lcd_Out(1,1,txt6);
IntToStr(LDR_2,adc_show);
Lcd_Out(2,1,adc_show);
Delay_ms(5000);
Lcd_Cmd(_LCD_CLEAR);
Delay_ms(1000);
//
Lcd_Out(1,1,txt7);
IntToStr(LDR_3,adc_show);
Lcd_Out(2,1,adc_show);
Delay_ms(5000);
Lcd_Cmd(_LCD_CLEAR);
Delay_ms(1000);
//
Lcd_Out(1,1,txt8);
IntToStr(LDR_4,adc_show);
Lcd_Out(2,1,adc_show);
Delay_ms(5000);
Lcd_Cmd(_LCD_CLEAR);
Delay_ms(1000); */
//Lcd_Cmd(_LCD_CLEAR);
//Delay_ms(1000);
//IntToStr(goal,gool);
//IntToStr(prev_pos,prv);
//Lcd_Out(1,1,gool);
//Lcd_Out(1,6,prv);
// motor rotation Start
if (goal==prev_pos)
{
Lcd_Out(2,1,txt2);
Delay_ms(1000);
}
else
{
Lcd_Out(2,1,txt1);
if (goal>prev_pos)
{
for (i=prev_pos;i<=goal;i++)
{
PORTB.B0=0;
PORTB.B1=1;
Delay_ms(one_rot);
}
}
else
{
for (i=prev_pos;i<=(4+goal);i++)
{
PORTB.B0=0;
PORTB.B1=1;
Delay_ms(one_rot);
}
}
}
PORTB.B0=1;
PORTB.B1=1;// Motor stop
Delay_ms(1000);
//motor rotation End
}
}
