i need ur help
can u identified where is my mistake?
actually i want to make the robot moving when sw1 pressed and stop when sw2 pressed
i cant identify where is my mistake
here my code:
- CODE: SELECT_ALL_CODE
//============================================================================================================
// Author :CYTRON
// Project :PR23
// Project description :Simple line follow
// Version :v1.4
//============================================================================================================
// include
//============================================================================================================
#include <pic.h>
// configuration
//============================================================================================================
__CONFIG ( 0x3F32 );
// define
//============================================================================================================
#define sw1 RB0
#define sw2 RB1
#define motor_ra RC0
#define motor_rb RC3
#define motor_la RC4
#define motor_lb RC5
/*
#define s_left RB0
#define s_mleft RB1
#define s_mright RB2
#define s_right RB3
#define buzzer RE2
*/
#define rs RB4 //ubah
#define e RB5 //ubah
#define lcd_data PORTD
#define SPEEDL CCPR1L
#define SPEEDR CCPR2L
#define CHANNEL0 0b10000001 // AN0 ( Ultrasonic )
#define CHANNEL1 0b10001001 // AN1 ( Distance sensor )
#define RX_PIN RC7
#define TX_PIN RA2
#define BOT_ADD 100
*/
// global variable
//============================================================================================================
unsigned char data[6] = {0};
//const unsigned char line [] = {"1.LINE FOLLOW"};
const unsigned char US[] = {"2.Ultrasonic"};
//const unsigned char AS[] = {"3.Analog Sensor"};
//const unsigned char XB[] = {"4.SKXBEE"};
//const unsigned char SKPS[] = {"5.SKPS"};
//const unsigned char *mode [5] = {&line[0],&US[0],&AS[0],&XB[0],&SKPS[0]};
unsigned int result;
unsigned int To=0,T=0,TH=0;
unsigned char REC;
unsigned char i=0,raw;
unsigned int us_value (unsigned char mode);
// function prototype
//============================================================================================================
void init(void);
void delay(unsigned long data);
void send_config(unsigned char data);
void send_char(unsigned char data);
void e_pulse(void);
void lcd_goto(unsigned char data);
void lcd_clr(void);
void send_string(const char *s);
void dis_num(unsigned long data);
//void line_follow(void);
void ultrasonic(void);
//void wireless_xbee(void);
//void analog_sen(void);
//void SKPS_PScon(void);
void forward(void);
void stop (void);
void backward (void);
void reverse (void);
void left(void);
void right(void);
//void uart_send(unsigned char data);
//unsigned char uart_rec(void);
//unsigned char skps(unsigned char data);
//void skps_vibrate(unsigned char motor, unsigned char value);
void read_adc(char config);
// interrupt prototype
//============================================================================================================
/*static void interrupt isr(void)
{
if (TMR0IF) // TMR0 is overflow
{
TMR0IF = 0; // clear flag bit
To +=0x100; // count number of TMR0 overflow ( make it to 16bit TMR)
}
if(RBIF) // there is change bit on RB4-RB7
{
RBIF = 0; // ____
if (RB4) // Rb4 is 1 mean is rising form 0 __|
{
TMR0 = 0; // clear all counter involved, start new count for period of RB4 high
To = 0;
}
// ___
else TH = TMR0 + To; // RB4 is 0 mean is falling form 1 |_____ // save TH, RB4 high period
}
if(RCIF)
{
RCIF = 0; // clear flag bit
if (RCREG == 'R') data[i=0]= RCREG; // check if start byte 'R' is met
else if (RCREG == 100) data[i=0]= RCREG; // check if start byte 'd'(decimal 100) is met
if ((data[0] == 'R'))data [i++] = RCREG; // save the data in data array
if (i>4) i = 4; // if the data array reached max, set the index to 4
}
*/}
// main function
//============================================================================================================
void main(void)
{
while (1)
{
if (sw1 == 1)
{
ultrasonic();
}
if (!sw2)
{
stop();
break;
}
}
//===========================================================================================================
// Initailization
// Description : Initialize the microcontroller
//============================================================================================================
void init()
{
// ADC configuration
ADCON1 = 0b10000100; //set RA0 and RA1 as Analog Input, left justified
// setup for capture pwm
RBIE = 1; // enable interrupt on change of port B
// motor PWM configuration
PR2 = 255; // set period register
T2CON = 0b00000100; //
CCP1CON = 0b00001100; // config for RC1 to generate PWM ( for more detail refer datasheet section 'capture/compare/pwm')
CCP2CON = 0b00001100; // config for RC2 to generate PWM
// Tris configuration (input or output)
TRISA = 0b00000101; //set RA0 and RA2 pin as input,other as output
TRISB = 0b00000000; //set RB0-RB4 pin as input, other as output
TRISC = 0b00000000; //set PORTC pin as output
TRISD = 0b00000000; //set all PORTD pin as output
TRISE = 0b00000011;
// TMR 0 configuation
T0CS = 0;
PSA = 0;
PS2 = 1; // prescale 1:32
PS1 = 1; //
PS0 = 1; //
TMR0IE = 1; // TMR0 Interrupt
TMR0 = 0;
//setup UART
SPBRG = 0x81; //set baud rate to 9600 for 20Mhz
BRGH = 1; //baud rate high speed option
TXEN = 1; //enable transmission
TX9 = 0;
CREN = 1; //enable reception
SPEN = 1; //enable serial port
RX9 = 0;
RCIE = 1; //enable interrupt on eachdata received
// enable all unmasked interrupt
GIE = 1;
PEIE = 1;
// LCD configuration
send_config(0b00000001); //clear display at lcd
send_config(0b00000010); //Lcd Return to home
send_config(0b00000110); //entry mode-cursor increase 1
send_config(0b00001100); //diplay on, cursor off and cursor blink off
send_config(0b00111000); //function
// TX_PIN = 1;
b_light = 0;
// buzzer = 0;
stop();
}
//============================================================================================================
// Mode 2 : Ultrasonic
// Description: Maintain distance measure using ultrasonic between obsacle and robot
// Can choose data acquiring methode between ADC, PWM and UART
//============================================================================================================
void ultrasonic(void)
{
int distance; // variable for distance measuring
// char n=1; // index for indicat mode
// lcd_clr(); // clear lcd
// send_string("Measure mode"); // display string
// lcd_goto(20); // lcd goto 2nd line
// send_string("ADC");
// lcd_clr(); // clear the lcd
// send_string("Distance"); // display string "Distance"
while(1) // loop forever
{
// lcd_goto(20); // lcd goto 2nd line
distance = us_value(n); // disance variable are equal to value return from subroutine us_value
dis_num(distance); // display the value of distance
if (distance> 40) // check if distance more than 40
{
forward(); // then forward with full speed
SPEEDL = 255;
SPEEDR = 255;
lcd_goto(20); // lcd go to 2nd line 1st character
send_string ("forward ");
// buzzer = 0;
}
else if (distance> 30) // check if distance more than 40
{
forward(); // forward with medium speed
SPEEDL = 230;
SPEEDR = 230;
lcd_goto(20); // lcd go to 2nd line 1st character
send_string ("forward ");
// buzzer = 0;
}
else if( distance >20) // check if distance more than 40
{
stop();
lcd_goto(20); // lcd go to 2nd line 1st character
send_string ("stop "); // then stop
// buzzer = 0;
}
else // else, distance less than 20
{
backward(); // then backward with medium speed and on the buzzer
SPEEDL = 250;
SPEEDR = 250;
lcd_goto(20); // lcd go to 2nd line 1st character
send_string ("backward");
// buzzer = 1;
}
}
}
//====================================================================================================
// Ultrasonic value
// Description : Retrive data from Ultrsonic. Can choose methode between ADC, PWM and UART
// Parameter : mode 1) using analog
// 2) using pwm
// 3) using uart
//====================================================================================================
unsigned int us_value (unsigned char mode) // subroutine for ultrasonic measurement
{
unsigned int value;
switch (mode) // retrive value of measured distane based on the methode selected
{
case 1: read_adc(CHANNEL0);
value = result; // max vslue 2.55v = 2.55/5 *1024 - 1 = 522, resolution = 10mV/ inch, 10m/5*1024 =~ 2
break;
case 2: value = TH; // each value = 256*4/20mhz = 51.2us, i inch = 147us
break; // can change using smaller timer prescale, but resulation fixed 147us / inch
case 3: if ( data [0]=='R') value = (data[1] - 0x30)*100+ (data[2] - 0x30)*10+ (data[3] - 0x30); // 1 = 1 inch
else
{
// lcd_goto(20); // if stater byte is not 'R', Display 'not connected'
// send_string("not connected");
while(1); // loop forever
}
default: ;
}
return value;
}
//===========================================================================================================
// read adc
// Description: subroutine for converting analog value to digital with average 200 samples
// Parameter : config ( select the channel )
//============================================================================================================
void read_adc(char config)
{
unsigned short i;
unsigned long result_temp=0;
ADCON0 = config;
delay(10000); // delay after changing configuration
for(i=200;i>0;i-=1) //looping 200 times for getting average value
{
ADGO = 1; //ADGO is the bit 2 of the ADCON0 register
while(ADGO==1); //ADC start, ADGO=0 after finish ADC progress
result=ADRESH;
result=result<<8; //shift to left for 8 bit
result=result|ADRESL; //10 bit result from ADC
result_temp+=result;
}
result = result_temp/200; //getting average value
ADON = 0; //adc module is shut off
}
//===========================================================================================================
// Motor control function
// Description : subroutine to set the robot moving direction
//============================================================================================================
void backward ()
{
motor_ra = 1;
motor_rb = 0;
motor_la = 1;
motor_lb = 0;
}
void forward ()
{
motor_ra = 0;
motor_rb = 1;
motor_la = 0;
motor_lb = 1;
}
void left()
{
motor_la = 1;
motor_lb = 0;
motor_ra = 0;
motor_rb = 1;
}
void right()
{
motor_la = 0;
motor_lb = 1;
motor_ra = 1;
motor_rb = 0;
}
void stop()
{
motor_la = 1;
motor_lb = 1;
motor_ra = 1;
motor_rb = 1;
}
void delay(unsigned long data) //delay function, the delay time
{
for( ;data>0;data-=1); //depend on the given value
}
