forward(){ trisd=0;
ultra3();
intToStr(q,txt);
uart1_write_text(txt);
while(q>10){ ultra3();
intToStr(q,txt);
uart1_write_text(txt);
uart1_write_text("loop");
portd=0b01100000;
}
}
trnlft(){ trisd=0;
ultra2();
intToStr(j,txt);
uart1_write_text(txt);
if(j<10)
f2++;
while(j>10){
intToStr(j,txt);
uart1_write_text(txt);
ultra2();
portd=0b10100000;
}
}
void main() { adcon1=7;
uart1_init(9600);
delay_ms(4000);
trisd=0;
uart1_write_text("ready");
portd=0b01100000;
for(;;){
trisa=0b00000111;
f1=0;
f2=0;
/*if(porta.f1==1)
delay_ms(100);*/
while(porta.f1==1)
{
trisd=0 ;
for(zz=0;zz<10;zz++)
{
initrit();
delay_ms(200);
}
while(f1<80)
forward();
portd=0;
delay_ms(1000);
while(f2<40)
trnlft();
portd=0;
trisa=0;
porta=0;
}
} }
void main() {
unsigned int x=0;
char txt[7];
char pins;
unsigned int clpin[8];
config();
flash();
uart1_init(9600);
uart1_write_text("hello");
clpin[0]=touch(0);
clpin[1]=touch(1);
clpin[2]=touch(2);
clpin[3]=touch(3);
clpin[4]=touch(8);
clpin[5]=touch(9);
clpin[6]=touch(10);
clpin[7]=touch(12);
while(1)
{
//delay_ms(100);
uart1_write_text("pin=");
x=touch(2);
inttostr(x,txt);
uart1_write_text(txt);
uart1_write(13);
uart1_write_text("pin=");
pins=get_touch(clpin);
inttostr(pins,txt);
uart1_write_text(txt);
uart1_write(13);
led(pins);
}
}
trnlft(){ trisd=0;
ultra2();
intToStr(j,txt);
uart1_write_text(txt);
if(j<30)
f2++;
sum=j;
while(sum>30){
sum=0;
intToStr(j,txt);
uart1_write_text(txt);
for(zz=0;zz<10;zz++)
{
ultra2();
averege[zz]=j;
}
for(zz=0;zz<10;zz++)
sum=sum+averege[zz];
sum=sum/10;
portd=0b10100000;
}
}
void main() { uart1_init(9600);
uart1_write_text("ready");
trisd=0 ;
// initrit();
for(;;){
forward();
// portd=0;
// delay_ms(1000);
// ultra2();
// trnlft();
portd=0; }
}
void main() { uart1_init(9600);
uart1_write_text("ready");
trisd=0 ;
for(zz=0;zz<10;zz++)
{
initrit();
delay_ms(200);
}
while(f1<50)
forward();
portd=0;
delay_ms(1000);
while(f2<50)
trnlft();
portd=0;
}
void main() {
Lcd_Init();
INTCON=0b11000000;
PIE1=0b00100000;
UART1_Init(9600); // Initialize UART module at 9600 bps
Delay_ms(300); // Wait for UART module to stabilize
trisc=0b10000000;
portc=255;
portc.f1=0;
portc.f2=0;
trisd=0;
uart1_write_text("ready");
for(;;){
if(x==1)
{
Lcd_Chr_Cp(rr);
x=0;
}
}}
void main() {
Lcd_Init();
INTCON=0b11000000;
PIE1=0b00100000;
UART1_Init(9600); // Initialize UART module at 9600 bps
Delay_ms(300); // Wait for UART module to stabilize
trisc=0b10000000;
trisd=0;
portc=255;
portc.f0=0;
uart1_write_text("ready");
for(;;){
lcd_chr(1,1,rec[14]);
for (co=15;co<23;co++){
lcd_chr_cp(rec[co]);
}
lcd_chr(2,1,rec[26]);
for (co=27;co<36;co++){
lcd_chr_cp(rec[co]);
}
}}
void main() {
bit i,j,k,m;
int rc;
int lc;
int x;
int y;
i=1;j=1;m=1;k=1;
uart1_init(9600);
lcd_init();
for(;;)
{
rc=adc_read(1)*0.05;
lc=adc_read(0)*0.05;
x=adc_read(4)*0.05;
y=adc_read(3)*0.05;
if(x>=18)
{
lcd_out(1,1,"X+");
uart1_write_text("x+");
delay_ms(60);
}
if(x<=15)
{
lcd_out(1,1,"X-");
uart1_write_text("x-");
delay_ms(60);
}
if(y>=18)
{
lcd_out(1,1,"Y+");
uart1_write_text("y+");
delay_ms(60);
}
if(y<=15)
{
lcd_out(1,1,"Y-");
uart1_write_text("y-");
delay_ms(60);
}
if(lc<=7&&k==1)
{
lcd_out(2,1,"L1");
uart1_write_text("l1");
k=0;
m=1;
delay_ms(60);
}
if(lc>=9&&m==1)
{
lcd_out(2,1,"L2");
uart1_write_text("l2");
m=0;
k=1;
delay_ms(60);
}
if(rc<=12&&i==1)
{
lcd_out(2,1,"r1");
uart1_write_text("r1");
i=0;
j=1;
delay_ms(60);
}
if(rc>=14&&j==1)
{
lcd_out(2,1,"r2");
uart1_write_text("r2");
j=0;
i=1;
delay_ms(60);
}
}
}
void main() {
int i;
int temp1;
char test[32];
uart1_init(2400);
CE_DIR=0;
CSN_DIR=0;
CSK_DIR=0;
MOSI_DIR=0;
MISO_DIR=1;
delay_ms(500);
nrf24_config();
CSN=1;
CE=1;
lcd_init();
Lcd_Cmd(_LCD_CURSOR_OFF);
//lcd_out(2,1,"welcome");
trisb.f0=0;
rb0_bit=0;
trisd.f0=0;
for(i=0;i<30;i++)
{
rd0_bit=1;
delay_us(400);
rd0_bit=0;
delay_us(19600);
}
uart1_write_text("TEST");
uart1_write(13);
//lcd_out(1,1,"S");
while(1)
{
temp1=read_add(0x07);
if(((temp1&0b01000000)>>6)==1)
{
CE=0;
delay_ms(50);
//lcd_out(1,1,"data");
read_buff(0x61,test,32);
uart1_write_text(test);
lcd_out(1,1,test);
reset();
CE=1;
}
if(uart1_data_ready())
{
rfid[idx]=uart1_read();
///////////////////////////////////////////////////////////03002e2838
if(rfid[idx]=='0'&&valid2<10)
{
valid2++;
}
else if(rfid[idx]=='3'&&valid2<10)
{
valid2++;
}
else if(rfid[idx]=='2'&&valid2<10)
{
valid2++;
}
else if(rfid[idx]=='E'&&valid2==5)
{
valid2++;
}
else if(rfid[idx]=='8'&&valid2<10)
{
valid2++;
}
else
{
valid2=0;
}
if(rfid[idx]=='0'&&valid1<10) //03002e90b0
{
valid1++;
}
else if(rfid[idx]=='3'&&valid1==1)
{
valid1++;
}
else if(rfid[idx]=='2'&&valid1==4)
{
valid1++;
}
else if(rfid[idx]=='E'&&valid1==5)
{
valid1++;
}
else if(rfid[idx]=='9'&&valid1==6)
{
valid1++;
}
else if(rfid[idx]=='B'&&valid1==8)
{
valid1++;
}
else
{
valid1=0;
}
if(valid2>=10)
{
lcd_out(2,1,"User2 : 03002E2838");
delay_ms(1000);
lcd_cmd(_lcd_clear);
lcd_out(2,1,"UnValid");
valid2=0;
for(i=0;i<30;i++)
{
rd0_bit=1;
delay_us(400);
rd0_bit=0;
delay_us(19600);
}
delay_ms(1000);
lcd_cmd(_lcd_clear);
}
if(valid1>=10)
{
lcd_out(2,1,"User1 : 03002E90B0");
delay_ms(1000);
lcd_cmd(_lcd_clear);
lcd_out(2,1,"Valid");
valid1=0;
for(i=0;i<30;i++)
{
rd0_bit=1;
delay_us(1500);
rd0_bit=0;
delay_us(18500);
}
delay_ms(1000);
for(i=0;i<30;i++)
{
rd0_bit=1;
delay_us(400);
rd0_bit=0;
delay_us(19600);
}
lcd_cmd(_lcd_clear);
}
}
}
}
void main() {
char error,error2;
uart1_init(9600);
SPI1_Init();
buf[0]='E';
buf[1]='n';
buf[2]='g';
buf[3]='S';
buf[4]='h';
buf[5]='a';
buf[6]='d';
buf[7]='y';
trisd=255;
error = MMC_init();
if(!error){
uart1_write_text("connected");
}
else
uart1_write_text("not connected");
while(1)
{
if(rd0_bit==0)
{
buf[0]='E';
buf[1]='n';
buf[2]='g';
buf[3]='S';
buf[4]='h';
buf[5]='a';
buf[6]='d';
buf[7]='y';
error2 = Mmc_write_Sector(1, buf);
if(!error2)
{
uart1_write_text("write success");
}
else
uart1_write_text("write not success");
while(rd0_bit==0){}
}
if(rd1_bit==0)
{
error2 = Mmc_read_Sector(1, read);
uart1_write_text(read);
while(rd1_bit==0){}
}
if(rd2_bit==0)
{
buf[0]='E';
buf[1]='n';
buf[2]='g';
buf[3]='i';
buf[4]='s';
buf[5]='m';
buf[6]='a';
buf[7]='i';
buf[7]='l';
error2 = Mmc_write_Sector(1, buf);
if(!error2)
{
uart1_write_text("write success");
}
else
uart1_write_text("write not success");
while(rd2_bit==0){}
}
}
}
void main() {
char rec;
int x,y;
int f[5];
char send[7];
uart1_init(9600);
trisc=0b10000000;
DI=1;
CLK=1;
uart1_write_text("hello");
while(1)
{
if(uart1_data_ready())
{
rec=uart1_read();
if(rec=='1')
audio(1);
if(rec=='2')
audio(2);
if(rec=='3')
audio(3);
if(rec=='4')
audio(4);
if(rec=='5')
audio(5);
}
f[0]=adc_read(12);
f[1]=adc_read(10);
f[2]=adc_read(8);
f[3]=adc_read(9);
f[4]=adc_read(11);
x=adc_read(0);
y=adc_read(1);
inttostr(f[0],send);
uart1_write_text("f0=");
uart1_write_text(send);
uart1_write(13);
IntToStr(f[1],send);
uart1_write_text("f1=");
uart1_write_text(send);
uart1_write(13);
IntToStr(f[2],send);
uart1_write_text("f2=");
uart1_write_text(send);
uart1_write(13);
IntToStr(f[3],send);
uart1_write_text("f3=");
uart1_write_text(send);
uart1_write(13);
IntToStr(f[4],send);
uart1_write_text("f4=");
uart1_write_text(send);
uart1_write(13);
IntToStr(x,send);
uart1_write_text("x=");
uart1_write_text(send);
uart1_write(13);
IntToStr(y,send);
uart1_write_text("y=");
uart1_write_text(send);
uart1_write(13);
delay_ms(1000);
if(f[0]<170&&f[1]<180&&f[2]<180&&f[3]>250)
{
audio(2);
delay_ms(5000);
}
else if(f[0]<170&&f[1]<180&&f[2]<180&&f[3]<170&&rec!='c')
{
audio(1);
delay_ms(5000);
}
else if(f[0]>230&&f[1]>230&&f[2]>230&&f[3]>230&&x<280)
{
audio(3);
delay_ms(5000);
}
else if(f[0]<170&&f[1]<180&&f[2]<180&&f[3]<170&&rec=='c')
{
audio(4);
rec=0;
delay_ms(5000);
}
else if(f[0]>230&&f[1]>230&&f[2]>230&&f[3]>230&&x>350&&rec=='b')
{
audio(5);
rec=0;
delay_ms(5000);
}
}
}
void main()
{
unsigned char i;
unsigned char tmp;
unsigned int tmpi;
unsigned int tout;
char str[6];
ADCON1=0x06;
TRISA=0xC3;
TRISB=0x01;
TRISC=0x01;
TRISD=0x00;
TRISE=0x00;
NOT_RBPU_bit=0;
lcd_init();
UART1_Init(9600);
adc_init();
/*
//dip
TRISB=0x03;
lcd_cmd(_LCD_CLEAR);
lcd_cmd(_LCD_FIRST_ROW);
lcd_out_cp(codetxt_to_ramtxt("Ligue todos DIP"));
lcd_cmd(_LCD_SECOND_ROW);
lcd_out_cp(codetxt_to_ramtxt("Press. RB1"));
while(RB1_bit);
*/
//testa caracter especial
lcd_cmd(_LCD_CLEAR);
lcd_cmd(_LCD_FIRST_ROW);
lcd_out_cp(codetxt_to_ramtxt(" Teste LCD"));
lcd_cmd(0x40);//endere�o
lcd_chr_cp(0x11);
lcd_chr_cp(0x19);
lcd_chr_cp(0x15);
lcd_chr_cp(0x13);
lcd_chr_cp(0x13);
lcd_chr_cp(0x15);
lcd_chr_cp(0x19);
lcd_chr_cp(0x11);
lcd_chr_cp(0x0E);
lcd_chr_cp(0x11);
lcd_chr_cp(0x0E);
lcd_chr_cp(0x05);
lcd_chr_cp(0x0E);
lcd_chr_cp(0x14);
lcd_chr_cp(0x0A);
lcd_chr_cp(0x11);
lcd_cmd(_LCD_SECOND_ROW);
for(i=0;i<16;i++)
{
lcd_chr_cp(i%2);
delay_ms(100);
}
//teste lcd
lcd_cmd(_LCD_CLEAR);
lcd_cmd(_LCD_FIRST_ROW);
lcd_out_cp(codetxt_to_ramtxt(" Teste LCD"));
for(i=32;i<128;i++)
{
if((i%16) == 0)lcd_cmd(_LCD_SECOND_ROW);
lcd_chr_cp(i);
delay_ms(50);
}
delay_ms(100);
lcd_cmd(_LCD_CLEAR);
lcd_cmd(_LCD_FIRST_ROW);
lcd_out_cp(codetxt_to_ramtxt(" Teste LCD"));
lcd_cmd(_LCD_SECOND_ROW);
lcd_out_cp(codetxt_to_ramtxt(" Ok"));
delay_ms(500);
//testa display 7s
lcd_cmd(_LCD_CLEAR);
lcd_cmd(_LCD_FIRST_ROW);
lcd_out_cp(codetxt_to_ramtxt(" Teste 7 Seg"));
ADCON1=0x06;
for(i=0;i<4;i++)
{
switch(i)
{
case 0:
PORTA=0x20;
break;
case 1:
PORTA=0x10;
break;
case 2:
PORTA=0x08;
break;
case 3:
PORTA=0x04;
break;
}
for(tmp=0;tmp<16;tmp++)
{
PORTD=display7s(tmp);
delay_ms(200);
}
}
ADCON1=0x02;
PORTD=0;
/*
//dip
TRISB=0x03;
lcd_cmd(_LCD_CLEAR);
lcd_cmd(_LCD_FIRST_ROW);
lcd_out_cp(codetxt_to_ramtxt("Desligue RTC DIP"));
lcd_cmd(_LCD_SECOND_ROW);
lcd_out_cp(codetxt_to_ramtxt("Press. RB1"));
while(RB1_bit);
*/
//testa LEDs
TRISB=0x00;
lcd_cmd(_LCD_CLEAR);
lcd_cmd(_LCD_FIRST_ROW+3);
lcd_out_cp(codetxt_to_ramtxt("Teste LEDs"));
for(tmp=0;tmp<3;tmp++)
{
for(i=1;i > 0;i=i*2)
{
PORTB=i;
PORTD=i;
delay_ms(200);
}
}
PORTB=0;
PORTD=0;
for(i=0;i<4;i++)
{
PORTB^=0xFF;
PORTD^=0xFF;
delay_ms(200);
}
//testa chaves
lcd_cmd(_LCD_CLEAR);
lcd_cmd(_LCD_FIRST_ROW);
lcd_out_cp(codetxt_to_ramtxt(" Teste Chaves"));
tmp=0;
ADCON1=0x06;
TRISA|=0x20;
while((tmp & 0x7F) != 0x7F)
{
TRISB=0x3F;
if(RB0_bit == 0)
{
tmp|=0x01;
}
if(RB1_bit == 0)
{
tmp|=0x02;
}
if(RB2_bit == 0)
{
tmp|=0x04;
}
if(RB3_bit == 0)
{
tmp|=0x08;
}
if(RB4_bit == 0)
{
tmp|=0x10;
}
if(RB5_bit == 0)
{
tmp|=0x20;
}
if(RA5_bit == 0)
{
tmp|=0x40;
}
TRISB=0x00;
PORTB=tmp;
delay_ms(10);
}
delay_ms(500);
PORTB=0;
ADCON1=0x02;
TRISC7_bit=1; //RX
TRISC6_bit=0; //TX
//teste serial
lcd_cmd(_LCD_CLEAR);
lcd_cmd(_LCD_FIRST_ROW);
lcd_out_cp(codetxt_to_ramtxt("Teste Serial TX"));
lcd_cmd(_LCD_SECOND_ROW+4);
lcd_out_cp(codetxt_to_ramtxt("9600 8N1"));
uart1_write_text(codetxt_to_ramtxt("\r\n Picsimlab\r\n Teste Serial TX\r\n"));
for(i=0;i<4;i++)
{
uart1_write(i+0x30);
uart1_write_text(codetxt_to_ramtxt(" PicsimLab\r\n"));
}
delay_ms(1000);
lcd_cmd(_LCD_CLEAR);
lcd_cmd(_LCD_FIRST_ROW);
lcd_out_cp(codetxt_to_ramtxt("Teste Serial RX"));
uart1_write_text(codetxt_to_ramtxt(" Digite!\r\n"));
for(i=0;i<32;i++)
{
if(!(i%16))
{
lcd_cmd(_LCD_SECOND_ROW);
uart1_write_text(codetxt_to_ramtxt("\r\n"));
}
tout=0;
while((!uart1_data_ready())&&(tout<2000))
{
tout++;
delay_ms(1);
}
if(uart1_data_ready())
{
tmp=uart1_read();
}
else
{
tmp='-';
}
lcd_chr_cp(tmp);
uart1_write(tmp);
}
delay_ms(100);
//teste ADC
lcd_cmd(_LCD_CLEAR);
lcd_cmd(_LCD_FIRST_ROW);
lcd_out_cp(codetxt_to_ramtxt(" Teste ADC (P1)"));
for(i=0; i< 200; i++)
{
tmp=(adc_read(0)*10)/204;
lcd_cmd(_LCD_SECOND_ROW+6);
inttostr(tmp,str);
if(str[4] == ' ')
lcd_chr_cp('0');
else
lcd_chr_cp(str[4]);
lcd_chr_cp(',');
lcd_chr_cp(str[5]);
lcd_chr_cp('V');
delay_ms(10);
}
lcd_cmd(_LCD_CLEAR);
lcd_cmd(_LCD_FIRST_ROW);
lcd_out_cp(codetxt_to_ramtxt(" Teste ADC (P2)"));
for(i=0; i< 200; i++)
{
tmp=((unsigned int)adc_read(1)*10)/204;
lcd_cmd(_LCD_SECOND_ROW+6);
inttostr(tmp,str);
if(str[4] == ' ')
lcd_chr_cp('0');
else
lcd_chr_cp(str[4]);
lcd_chr_cp(',');
lcd_chr_cp(str[5]);
lcd_chr_cp('V');
delay_ms(10);
}
//teste RELE
TRISC0_bit=0;
TRISE0_bit=0;
lcd_cmd(_LCD_CLEAR);
lcd_cmd(_LCD_FIRST_ROW);
lcd_out_cp(codetxt_to_ramtxt("Teste RELE 1 2"));
for(i=0;i<5;i++)
{
RC0_bit^=1;
RE0_bit^=1;
delay_ms(500);
}
RC0_bit=0;
RE0_bit=0;
/*
lcd_cmd(_LCD_CLEAR);
lcd_cmd(_LCD_FIRST_ROW);
lcd_out_cp(codetxt_to_ramtxt("Teste RELE 2"));
for(i=0;i<5;i++)
{
RE0_bit^=1;
delay_ms(500);
}
RE0_bit=0;
*/
//fim teste
lcd_cmd(_LCD_CLEAR);
lcd_cmd(_LCD_FIRST_ROW);
lcd_out_cp(codetxt_to_ramtxt(" Fim"));
/*
lcd_cmd(_LCD_SECOND_ROW);
lcd_out_cp(codetxt_to_ramtxt(" Pressione RST"));
*/
uart1_write_text(codetxt_to_ramtxt("\r\n FIM!\r\n"));
while(1);
}
