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 main(void)
{
//initialize portc
PORTC = 0x00;
TRISC = 0x00;
//initialize pwm
PWM_Init(5000); //initialize pwm at 5khz
PWM1_Duty(0); //set initial duty cycle at 0 on pin RC2
PWM2_Duty(0);
//start pwm
PWM1_Start();
PWM2_Start();
while (1)
{
for (int i=0; i<1023; i+=4)
{
PWM1_duty();
PWM2_Duty(1023-i);
__delay_ms(2);
}
}
}
void main() {
InitMain();
current_duty = 200; // initial value for current_duty
current_duty1 = 200; // initial value for current_duty1
TRISA = 0xFF; // PORTA is input
TRISB = 0xFF; // Set PORTB as input
//PORTB = 0x00;
PWM1_Start(); // start PWM1
PWM2_Start(); // start PWM2
PWM1_Set_Duty(0); // Set current duty for PWM1
PWM2_Set_Duty(0); // Set current duty for PWM2
adcon1 = 0b1000010;
while (1) { // endless loop
temp_res = ADC_Read(0);
temp_res=temp_res*255.0/1024.0;
newduty=temp_res;
if(RB0_bit==1 && RB1_bit==0){
PWM1_Set_Duty(newduty);
PWM2_Set_Duty(0);
}else if(RB0_bit==0 && RB1_bit==1){
PWM1_Set_Duty(0);
PWM2_Set_Duty(newduty);
}
else{
PWM1_Set_Duty(0);
PWM2_Set_Duty(0);
}
Delay_ms(5); // slow down change pace a little
}
}
//################################################################################################################################
//--------------------------------------------------------------------------------------------------------------------------------
//函数名称：CLevel21_Sure()
//--------------------------------------------------------------------------------------------------------------------------------
//函数功能：确认键的第二层第3个任务
//--------------------------------------------------------------------------------------------------------------------------------
//输入参数： tmp为第几个按键的值
//--------------------------------------------------------------------------------------------------------------------------------
//输出参数： null
//--------------------------------------------------------------------------------------------------------------------------------
//说 明：
//--------------------------------------------------------------------------------------------------------------------------------
//################################################################################################################################
void CLevel23_Sure(uint8 tmp)//
{
switch(tmp)
{
case 1://自检 喇叭响完就关闭了
ClearScreen(0);
UartCom(CMD_139W,2); //发送心跳命令
SetZjFlag(1);
//加声光
Led_On();
DelayMs(10);
PWM1_Start();
PWM1_Set( PWM_CYCLE, 0 );
//delay
DelayMs(10);
PWM1_Stop();
DelayMs(10);
PWM1_Start();
PWM1_Set( PWM_CYCLE, 0 );
TestSelf_Menu();
// SetSpeaker_Counter(1);
// CLevel27_Sure();
break;
case 2://部件信号强度
ClearScreen(0);
CompInten_Menu(0,0,0,0);
CSetIntenFlag(1);
break;
default:break;
}
}
void alimentar(unsigned short tamanio) {
PWM1_Start(); // start PWM1
PWM1_Set_Duty(90);
Delay_ms(750);
PWM1_Stop();
if (tamanio == 'A'){
Delay_ms(500);
}
else if (tamanio == 'B'){
Delay_ms(1500);
}
else if (tamanio == 'C'){
Delay_ms(2000);
}
else if (tamanio == 'D'){
Delay_ms(2500);
}
PWM1_Start();
PWM1_Set_Duty(30);
Delay_ms(750);
PWM1_Stop();
}
void alimentar(unsigned short tama) {
PWM1_Set_Duty(70);
PWM1_Start(); // start PWM1
Delay_ms(1000);
PWM1_Stop();
if (tama = 65){
Delay_ms(100);
}
else if (tama = 66){
Delay_ms(150);
}
else if (tama = 67){
Delay_ms(200);
}
else if (tama = 68){
Delay_ms(250);
}
PWM1_Set_Duty(50);
PWM1_Start();
Delay_ms(1000);
PWM1_Stop();
}
/*level = 1~5, level = 0, close PWM*/
void PWM_level(kal_uint8 level)
{
if (level > 5)
ASSERT(0);
PWM1_LEVEL_SAVE = level;
if (level)
{
PWM1_Configure(PWM1_Level_Info[level-1][0],PWM1_Level_Info[level-1][1]);
PWM1_Start();
}
else
{
PWM1_Stop();
}
}
void CLevel23_Return(void)
{
//switch(vCounter[1])
switch(GetCounter2())
{
case 1://自检 返回 检测蜂鸣器标志是否已经打开 ，如果已经打开，则开启
Led_Off();
// if(GetSpeakerClick())
// {
// SetAlarmFlag(0,1);
// }
//delay
DelayMs(10);
PWM1_Stop();
PWM1_Set(0,0);
DelayMs(10);
BEEPOn();
PWM1_Start();
PWM1_Set( PWM_CYCLE, 0 );
DelayMs(10);
PWM1_Stop();
PWM1_Set(0,0);
SetZjFlag(0);//中断里打开喇叭响检测
ClearScreen(0);
Test_Menu(1);
// SetSpeaker_Counter(0);
// CLevel27_Sure();
break;
case 2:
CSetIntenFlag(0);
ClearScreen(0);
Test_Menu(2);
break;
default:break;
}
SetCounter3(1);
//vCounter[2] = 1;
}
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 Interrupt(){
if(INTF_bit){ //External Interrupt occurred
INTCON = 0; //Disable all interrupts
PORTB.F2 = 0;
PORTD = 0;
PWM1_Stop();
}
if (TMR1IF_bit){ //Timer1 Interrupt occurred
TMR1IF_bit = 0;
TMR1H = 0x6D;
TMR1L = 0x84;
dt = ADC_Read(0); //Read analog value
if (dt != dt0) {
dt0 = dt;
dt0 = dt0 >> 2;
PWM1_Set_Duty(dt0);
PWM1_Start();
}
}
void main(void)
{
// Enable Global Interrupt
M8C_EnableGInt;
// Clear the flags
FlagsElevator = 0;
FlagsAileron = 0;// new for motorcontroll2
FlagUltrasoon = 0;
// Start timers and enable interrupt
Timer1_Start();
Timer1_EnableInt();
Timer2_Start();// new for motorcontroll2
Timer2_EnableInt();// new for motorcontroll2
Timer3_Start();
Timer3_EnableInt();
TriggerUltrasoon();
// Init motors
PWM1_Start();
PWM2_Start();
#if (DEBUG_LCD)
LCD_Start();
#endif
while (TRUE)
{
float aileronNormalized,
elevatorNormalized;
float distance;
float speed, direction;
float motorLeft, motorRight;
BOOL forward;
aileronNormalized = EvaluateAileron(PulseWidthAileron);
direction = fabs(aileronNormalized);
elevatorNormalized = EvaluateElevator(PulseWidthElevator);
speed = fabs(elevatorNormalized);
forward = (elevatorNormalized >= 0);
distance = EvaluateUltrasoonSensor();
if (distance < MIN_SAFE_DISTANCE)
{
if (forward)
speed = 0;
}
motorLeft = speed; // default is straight forward
motorRight = speed;
if (aileronNormalized < 0) // turning left
{
motorRight = speed;
motorLeft = speed * (1 - direction);
}
else if (aileronNormalized > 0) // turning right
{
motorLeft = speed;
motorRight = speed * (1 - direction);
}
if (forward)
{
// ccw
PRT1DR |= 0x08; // AIN1
PRT1DR &= ~0x02; // AIN2
PRT1DR |= 0x20; // BIN1
PRT1DR &= ~0x80; // BIN2
}
else
{
//cw
PRT1DR &= ~0x08; // AIN1
PRT1DR |= 0x02; // AIN2
PRT1DR &= ~0x20; // BIN1
PRT1DR |= 0x80; // BIN2
}
// Denormalize to Engine
motorLeft *= (MAX_POWER - MIN_POWER);
motorLeft += MIN_POWER;
motorRight *= (MAX_POWER - MIN_POWER);
motorRight += MIN_POWER;
PWM1_WritePulseWidth(motorLeft);
PWM2_WritePulseWidth(motorRight);
#if (DEBUG_LCD)
LCD_Position(0,7);
LCD_PrHexInt(motorLeft);
LCD_Position(1,7);
LCD_PrHexInt(motorRight);
LCD_Position(0,12);
LCD_PrCString(forward ? "F" : "B");
#endif
}
}
