//Ë¢ÐÂÆÁÄ»
void lcd_refresh(void)
{
uint8_t message[50];
sprintf(message," Voltage: %.1f V",(float)(Get_Voltage()/223.58));//12λAD
LCD_DisplayStringLine(LINE(1), message);
sprintf(message," Speed: %.2f m/s ",velocity);
LCD_DisplayStringLine(LINE(2), message);
//
sprintf(message," p.x:%.2f**p.y:%.2f** ",point_now.x, point_now.y);
LCD_DisplayStringLine(LINE(3), message);
// LCD_DisplayStringLine(LINE(5), Command0);
// LCD_DisplayStringLine(LINE(6), (uint8_t*)RxBuffer);
sprintf(message," ax=%d ,ay=%d az=%d******", ax, ay, az);
LCD_DisplayStringLine(LINE(6), message);
sprintf(message," spd: %.8f ",GPSMsg.hor_spd);
LCD_DisplayStringLine(LINE(7), message);
sprintf(message," gnd:%.8f ", GPSMsg.trk_gnd);
LCD_DisplayStringLine(LINE(8), message);
sprintf(message," lat=%.10f ", GPSMsg.lat);
LCD_DisplayStringLine(LINE(9), message);
sprintf(message," lat=%.10f ", GPSMsg.lon);
LCD_DisplayStringLine(LINE(10), message);
// sprintf(message," direction=%.2f", Dire);
// LCD_DisplayStringLine(LINE(10), message);
// sprintf(message," dir_deg=%.2f gy=%d ", dir_deg, gy );
// LCD_DisplayStringLine(LINE(11), message);
sprintf(message," PWM_set=%d ",PWM_set);
LCD_DisplayStringLine(LINE(12), message);
// printf("mxmax=%d mxmin=%d mymax=%d mymin=%d mzmax=%d mzmin=%d\r\n",mx_max,mx_min,my_max,my_min,mz_max,mz_min);
}
void main(void)
{
ATD_initialization(2); // Allows use of Get_Voltage. The value passed (2) means pin RA2. See ATDroutines for more explanation
InterruptInitialization(); // Initializes flags in order for the interrupt to work on the hardware side of things.
#if defined(_16F883)
// IRCF2=1; IRCF1=0; IRCF0=0; //1 MHz, Internal Oscillator Frequency Select bits || This refers to the Internal Oscillator which
// determines how fast the clock goes and in turn affects the PWM speed.
IRCF2=1; IRCF1=1; IRCF0=1; //8 MHZ ||Sets the oscillator to 8MHz by setting all three bits to 1. The settings vary from 000: 31kHz to 111 8Mhz
#endif
PWM1PinDirection //4x PWM Motors
PWM2PinDirection
PWMPin3Configuration
PWMPin4Configuration
TRISB5=0; ANS13=0; IOCB5=0; WPUB5=0, nRBPU = 0;
TRISB0=1; ANS12=0; IOCB0=1; WPUB0=1; //Switches for spin
TRISB1=1; ANS10=0; IOCB1=1; WPUB1=1; //TRIS: 0/1:output/input
TRISB2=1; ANS8=0; IOCB2=1; WPUB2=1; //ANSxx=0/1 toggles analog input on switch. Analog is enabled by default. This disables it for digital use
TRISB3=1; ANS9=0; IOCB3=1; WPUB3=1; //B1-B5 is used for switches (digital)
TRISB4=1; ANS11=0; IOCB4=1; WPUB4=1; //IOCB: Must be enabled for Port B interrupt.
TRISB5=1; ANS13=0; IOCB5=1; WPUB5=1; //WPUB: Weak Pull-ups Port B. Sets B1-B5 as pull-ups. Necessary for Port B interrupt.
TRISA1 = 0; //Servo: TRISA1 makes it an output
TMR2ON=1; //Turns on Timer2
TRISA0 = 0;
RA0 = 1;
InterruptInitialization(); //Calls the Initialization function
PulsePeriod = ph; //Sets the PulsePeriod to the same value as the length which sets the motors to full speed
PWM1Pin=1; // Turns on the motors by sending power to the pin the motor is connected to
PWM2Pin=1;
PWM3Pin=1;
PWM4Pin=1;
PULSELENGTH1=ph; // Sets all motors to full speed
PULSELENGTH2=ph;
PULSELENGTH3=ph;
PULSELENGTH4=ph;
while(1){
Get_Voltage(&Voltage); //Gets a reading of the voltage
if(Voltage<100) //Conditionals to adjust the speed of the motors based on the current position of the potentiometer.
PulsePeriod = 512; //a greater period means that the pulse runs longer which means that the motors go slower
//as the Voltage increases, the resistance from the potentiometer must be decreasing so as the knob turns the Pulse is
//decreased to change the speed as the knob is turned.
if((Voltage<=200)&&(Voltage>=100))
PulsePeriod = 450;
if((Voltage>200)&&(Voltage<=300))
PulsePeriod = 400;
if((Voltage>300)&&(Voltage<=400))
PulsePeriod = 350;
if((Voltage>400)&&(Voltage<=500))
PulsePeriod = 300;
if((Voltage>500)&&(Voltage<=600))
PulsePeriod = 250;
if((Voltage>700)&&(Voltage<=800))
PulsePeriod = 200;
if((Voltage>800)&&(Voltage<=900))
PulsePeriod = 250;
if((Voltage>900)&&(Voltage<1000))
PulsePeriod = 200;
if(Voltage>=1000)
PulsePeriod = 100;
}
}