Untitled
unknown
c_cpp
2 months ago
8.1 kB
3
Indexable
// move.c
#include <xc.h>
#include <pic18f4520.h>
// Configuration Bits
#pragma config OSC = INTIO67
#pragma config WDT = OFF
#pragma config PWRT = OFF
#pragma config BOREN = ON
#pragma config PBADEN = OFF
#pragma config LVP = OFF
#pragma config CPD = OFF
#define _XTAL_FREQ 125000 // Oscillator frequency for delay (125 kHz)
#define stop 46
#define delay(t) __delay_ms(t * 1000);
#define xbond 24
#define ybond 30
void Timer0stop(void);
void Timer0on(void);
void setServoPosition1(unsigned int dutyCycle);
void setServoPosition2(unsigned int dutyCycle);
void main(void)
{
//osc
OSCCONbits.IRCF = 0b001;
//IO port
TRISAbits.TRISA0 = 1;
TRISAbits.TRISA1 = 1;
TRISCbits.TRISC2 = 0;
TRISCbits.TRISC1 = 0;
TRISBbits.TRISB0 = 1;
TRISDbits.RD0=0;
LATC = 0;
LATD=0;
//ADC
ADCON1bits.PCFG = 0b1101;
ADCON0bits.CHS = 0b0000;
ADCON1bits.VCFG0 = 0;
ADCON1bits.VCFG1 = 0;
ADCON2bits.ADCS = 0b010; // Fosc/32
ADCON2bits.ACQT = 0b001;
ADCON0bits.ADON = 1;
ADCON2bits.ADFM = 1;
ADCON0bits.GO = 1;
//PWM
T2CONbits.TMR2ON = 1; // Enable Timer2 for PWM operation
T2CONbits.T2CKPS = 0b01; // Set Timer2 prescaler to 4
CCP1CONbits.CCP1M = 0b1100; // Configure CCP1 module in PWM mode
CCP2CONbits.CCP2M = 0b1100; // Configure CCP1 module in PWM mode
T2CON = 0b00000101; // Configure T2CON: Timer2 enabled, prescaler 4
PR2 = 0x9B; // Set PWM period for desired frequency
CCPR1L = 0; // Initialize PWM duty cycle to 0 (servo off)
CCPR2L = 0;
// Interrupt Configuration
PIE1bits.ADIE = 1; // Enable ADC interrupt
PIR1bits.ADIF = 0; // Clear ADC flag
INTCONbits.GIE = 1; // Enable global interrupts
INTCONbits.PEIE = 1; // Enable peripheral interrupts
INTCONbits.INT0IE = 1; // Enable external interrupt 0 (RB0 pin)
INTCONbits.INT0IF = 0; // Clear external interrupt 0 flag
RCONbits.IPEN = 1; // enable Interrupt Priority mode
INTCONbits.GIEH = 1; // enable high priority interrupt
INTCONbits.GIEL = 1; // disable low priority interrupt
INTCONbits.TMR0IF=0;
INTCONbits.TMR0IE=1;
RCONbits.IPEN = 1; // enable Interrupt Priority mode
//timer
/*
TMR0H=0;
TMR0L=0;
T0CONbits.T0PS=0b011;
INTCON2bits.TMR0IP=0;
T0CONbits.T08BIT = 0; // Configure Timer0 as 16-bit timer
T0CONbits.T0CS = 0; // Use internal clock (Fosc/4)
T0CONbits.PSA = 0; // Enable prescaler
*/
while (1){
if (ADCON0bits.GO == 0) ADCON0bits.GO = 1;
}
}
void setServoPosition1(unsigned int dutyCycle)
{
CCPR1L = dutyCycle >> 2;
CCP1CONbits.DC1B = dutyCycle & 0x03;
}
void setServoPosition2(unsigned int dutyCycle)
{
CCPR2L = dutyCycle >> 2;
CCP2CONbits.DC2B = dutyCycle & 0x03;
}
int i=0;
int x=0,y=0;
void __interrupt(high_priority) ISR(void)
{
if (INTCONbits.INT0IF)
{
LATD=0;
delay(10);
__delay_ms(300);
for(int i=0;i<x;i++){
setServoPosition2(56);
delay(0.192);
}
setServoPosition2(46);
x=0;
for(int i=0;i<y;i++){
setServoPosition1(36);
delay(0.179);
}
setServoPosition1(46);
y=0;
LATD=1;
INTCONbits.INT0IF = 0;
}
else if (PIR1bits.ADIF) {
int value = (ADRESH << 8) + ADRESL;
__delay_ms(5);
if(i==0){
i=1; //x direction
if(value > 800){ //right
setServoPosition2(36);
delay(0.15);
x++;
}
else if(value < 200){ //left
setServoPosition2(56);
delay(0.169);
x--;
}
else{ //x stop
setServoPosition2(46);
}
ADCON0bits.CHS = 0b0001;
}
else{
i=0; //y direction
if(value >800){
setServoPosition1(56);
delay(0.169);
y++;
}else if(value <200){
setServoPosition1(36);
delay(0.16);
y--;
}else{
setServoPosition1(46);
}
ADCON0bits.CHS = 0b0000;
}
PIR1bits.ADIF = 0;
}
}
// down.c
#include <xc.h>
#include <pic18f4520.h>
// Configuration Bits
#pragma config OSC = INTIO67
#pragma config WDT = OFF
#pragma config PWRT = OFF
#pragma config BOREN = ON
#pragma config PBADEN = OFF
#pragma config LVP = OFF
#pragma config CPD = OFF
#define _XTAL_FREQ 125000 // Oscillator frequency for delay (125 kHz)
#define stop 46
#define delay(t) __delay_ms(t * 1000);
#define up 80
#define down 16
#define open 50
#define close 20//40
void setServoPosition1(unsigned int dutyCycle);
void setServoPosition2(unsigned int dutyCycle);
void godown(void);
void goup(void);
void getitem(void);
void main(void)
{
//osc
OSCCONbits.IRCF = 0b001;
//IO port
TRISAbits.TRISA0 = 1;
TRISAbits.TRISA1 = 1;
TRISCbits.TRISC2 = 0;
TRISCbits.TRISC1 = 0;
TRISBbits.TRISB0 = 1;
TRISBbits.TRISB2 = 1;
LATC = 0;
TRISDbits.TRISD0=1;
LATD=0;
//PWM
T2CONbits.TMR2ON = 1; // Enable Timer2 for PWM operation
T2CONbits.T2CKPS = 0b01; // Set Timer2 prescaler to 4
CCP1CONbits.CCP1M = 0b1100; // Configure CCP1 module in PWM mode
CCP2CONbits.CCP2M = 0b1100; // Configure CCP1 module in PWM mode
T2CON = 0b00000101; // Configure T2CON: Timer2 enabled, prescaler 4
PR2 = 0x9B; // Set PWM period for desired frequency
CCPR1L = 0; // Initialize PWM duty cycle to 0 (servo off)
CCPR2L = 0;
// Interrupt Configuration
PIE1bits.ADIE = 1; // Enable ADC interrupt
PIR1bits.ADIF = 0; // Clear ADC flag
INTCONbits.GIE = 1; // Enable global interrupts
INTCONbits.PEIE = 1; // Enable peripheral interrupts
INTCONbits.INT0IE = 1; // Enable external interrupt 0 (RB0 pin)
INTCONbits.INT0IF = 0; // Clear external interrupt 0 flag
RCONbits.IPEN = 1; // enable Interrupt Priority mode
INTCONbits.GIEH = 1; // enable high priority interrupt
INTCONbits.GIEL = 1; // disable low priority interrupt
setServoPosition2(50); //set
while (1){
if (ADCON0bits.GO == 0) ADCON0bits.GO = 1;
}
}
void godown(void){
setServoPosition1(down);
delay(4.8);
setServoPosition1(stop);
}
void goup(void){
setServoPosition1(up);
delay(5.42);
setServoPosition1(stop);
}
void getitem(void){
setServoPosition2(close);
}
void setServoPosition1(unsigned int dutyCycle)
{
CCPR1L = dutyCycle >> 2; // Load the high 8 bits of duty cycle
CCP1CONbits.DC1B = dutyCycle & 0x03; // Load the low 2 bits of duty cycle
}
void setServoPosition2(unsigned int dutyCycle)
{
CCPR2L = dutyCycle >> 2; // Load the high 8 bits of duty cycle
CCP2CONbits.DC2B = dutyCycle & 0x03; // Load the low 2 bits of duty cycle
}
int i=0,prex=0,prey=0;
int distance_x=0,distance_y=0;
int throw;
void __interrupt() ISR(void)
{
// Check if the interrupt is triggered by INT0 (RB0 pin)
if (INTCONbits.INT0IF)
{
__delay_ms(300);
// Clear the interrupt flag
if(LATD==1)
LATD=0;
else
LATD=1;
setServoPosition2(open);
godown();
getitem();
goup();
while(1){
if(PORTBbits.RB2==0){
setServoPosition2(open);
break;
}
}
INTCONbits.INT0IF = 0;
}
}Editor is loading...
Leave a Comment