11-05-2009, 07:48 PM | #5 |
Nhập môn đệ tử
Tham gia ngày: Jul 2008
Bài gửi: 4
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a quen.e up lai doan code cho phu hop voi cai mach
#include <16f877.h> #fuses XT,NOWDT,NOPROTECT,NOPUT,NOBROWNOUT,NODEBUG #DEVICE *=16,ADC=8 #USE DELAY(CLOCK=4000000) #USE FAST_IO(B) #use fast_io(c) INT8 TIEN,LUI,AD0,AD1,AD2,AD3,QUAYTRAI,them, QUAYPHAI,RETRAI1,RETRAI2,REPHAI1,REPHAI2,LUIREPHAI 1,LUIREPHAI2,LUIRETRAI1,LUIRETRAI2; INT8 TANG; VOID MAIN() { TANG=0; them=255; SET_TRIS_B(11111111); //THIET LAP CAC CHAN RB0,1,2 LA CAC NGO VAO set_tris_c(00101001); //thiet lap cac chan rc0,3,5 la cac ngo vao OUTPUT_HIGH(PIN_C1); //TAT 2 DONG CO OUTPUT_HIGH(PIN_C2); SETUP_ADC(ADC_CLOCK_INTERNAL); //THIET LAP CHE DO ADC VOI THOI GIAN LAY MAU BANG XUNG IC SETUP_ADC_PORTS(AN0_AN1_AN3); //THET LAP 3 NGO VAO ADC SETUP_CCP1(CCP_PWM); //THIEP LAP CHE DO PWM SETUP_CCP2(CCP_PWM); //THIEP LAP CHE DO PWM sETUP_TIMER_2(T2_DIV_BY_4,255,1);//THIET LAP TIMER2 DUNG CHO PWM output_high(pin_c6); WHILE (1) { IF (!INPUT(PIN_B1)) //CO HAI NUT NHAN TANG GIAM MODE TOC DO ,5 DEN CHO 5 MODE { //NEU NUT TANG DUOC NHAN DELAY_MS(250); IF (TANG<5) { TANG++; SWITCH(TANG) { CASE 1 : {OUTPUT_HIGH(PIN_D6);them=180; //CAC DEN CHON MODE SANG } BREAK; CASE 2 : {OUTPUT_HIGH(PIN_A5);them=150; } BREAK; CASE 3 : {OUTPUT_HIGH(PIN_E0);them=100; } BREAK; CASE 4 : {OUTPUT_HIGH(PIN_E1);them=50; } BREAK; CASE 5 : {OUTPUT_HIGH(PIN_E2);them=0; } BREAK; } } } IF (!INPUT(PIN_B0)) //NEU NUT GIAM DUOC NHAN { DELAY_MS(250); IF (TANG>0) { SWITCH(TANG) { CASE 1 : {OUTPUT_LOW(PIN_D6);them=255; //CAC DEN MODE TAT } BREAK; CASE 2 : {OUTPUT_LOW(PIN_A5);them=180; } BREAK; CASE 3 : {OUTPUT_LOW(PIN_E0);them=150; } BREAK; CASE 4 : {OUTPUT_LOW(PIN_E1);them=100; } BREAK; CASE 5 : {OUTPUT_LOW(PIN_E2);them=50; } BREAK; } TANG--; } } //CO 1 CAI JOYSITCK DIEU KHIEN XE,VOI 2 BIEN TRO,CO 2 DONG CO CHO HAI BANH SET_ADC_CHANNEL(0); //CHON KENH AN1 DE DOC GIA TRI ADC TU BIEN TRO 1 CUA JOYSTICK DELAY_US(10); AD0=READ_ADC(); //DOC GIA TRI ADC SET_ADC_CHANNEL(1); //CHON KENH AN0 DE DOC GIA TRI ADC DELAY_US(10); AD1=READ_ADC(); IF ((AD0>=0)&&(AD0<=100)&&(AD1>100)&&(AD1<=145) ) // CHAY lui { TIEN=(ABS(AD0-127)); //GIA TRI ADC KHI KEO JOYSTICK DE XE CHAY TOI OUTPUT_low(pin_D3); //TAT CHAN ROLE DOI CHIEU DONG CO OUTPUT_low(PIN_D7); if ((them<=100)&&(tien<90)) { SET_PWM2_DUTY(180); SET_PWM1_DUTY(180); } if ((them<=100)&&(tien>=90)) {SET_PWM2_DUTY(them); SET_PWM1_DUTY(them); } if (them>100) {SET_PWM2_DUTY(them); SET_PWM1_DUTY(them); } DELAY_MS(50); } IF ((AD0>100)&&(AD0<=145)&&(AD1>100)&&(AD1<=145)) //DUNG LAI { SET_PWM2_DUTY(255); SET_PWM1_DUTY(255); OUTPUT_HIGH(PIN_D3); //TAT CHAN ROLE CHIEU DONG CO OUTPUT_HIGH(PIN_D7); } IF ((AD0>145)&&(AD1>100)&&(AD1<=145)) //CHAY toi { LUI=ABS(127-AD0); OUTPUT_high(PIN_D3); //SET CHAN ROLE CHIEU DONG CO OUTPUT_high(PIN_D7); if ((them<=100)&&(lui<90)) { SET_PWM2_DUTY(180); SET_PWM1_DUTY(180); } if ((them<=100)&&(lui>=90)) {SET_PWM2_DUTY(them); SET_PWM1_DUTY(them); } if (them>100) {SET_PWM2_DUTY(them); SET_PWM1_DUTY(them); } DELAY_MS(200); SET_ADC_CHANNEL(1); //CHON KENH AN1 DE DOC GIA TRI ADC DELAY_US(10); AD2=READ_ADC(); //DOC GIA TRI ADC SET_ADC_CHANNEL(0); //CHON KENH AN0 DE DOC GIA TRI ADC DELAY_US(10); AD3=READ_ADC(); IF ((AD0>AD2)&&((AD2-127)<30)&&(ABS(AD3-AD1)<50)&&INPUT(PIN_B1)&&INPUT(PIN_B0)) //CHONG BI GIAT KHI CHAY LUI SAU DO DUNG LAI { SET_PWM2_DUTY(255); SET_PWM1_DUTY(255); DELAY_MS(2000); OUTPUT_HIGH(PIN_D3); //TAT CHAN ROLE CHIEU DONG CO OUTPUT_HIGH(PIN_D7); } } IF ((AD0>100)&&(AD0<=145)&&(AD1>0)&&(AD1<=100)&&INPUT (PIN_B1)&&INPUT(PIN_B0)) //QUAY PHAI { QUAYPHAI=(ABS(AD1-127)); OUTPUT_LOW(PIN_D3); //SET CHAN ROLE CHIEU DONG CO OUTPUT_HIGH(PIN_D7); if ((them<=100)&&(tien<90)) { SET_PWM2_DUTY(200); SET_PWM1_DUTY(200); } if ((them<=100)&&(tien>=90)) {SET_PWM2_DUTY(them); SET_PWM1_DUTY(them); } if (them>100) {SET_PWM2_DUTY(them); SET_PWM1_DUTY(them); } DELAY_MS(200); SET_ADC_CHANNEL(1); //CHON KENH AN1 DE DOC GIA TRI ADC DELAY_US(10); AD2=READ_ADC(); //DOC GIA TRI ADC SET_ADC_CHANNEL(0); //CHON KENH AN0 DE DOC GIA TRI ADC DELAY_US(10); AD3=READ_ADC(); IF ((AD3>AD1)&&(ABS(AD2-AD0)<50)&&INPUT(PIN_B1)&&INPUT(PIN_B0)) //CHONG BI GIAT KHI QUAY PHAI { SET_PWM2_DUTY(255); SET_PWM1_DUTY(255); DELAY_MS(1000); OUTPUT_HIGH(PIN_D3); //TAT CHAN ROLE CHIEU DONG CO OUTPUT_HIGH(PIN_D7); } } IF ((AD0>100)&&(AD0<=145)&&(AD1>145)&&INPUT(PIN_B1)&& INPUT(PIN_B0)) //QUAY TRAI { QUAYTRAI=(ABS(127-AD1)); OUTPUT_HIGH(PIN_D3); //SET CHAN ROLE CHIEU DONG CO OUTPUT_LOW(PIN_D7); if ((them<=100)&&(quaytrai<90)) { SET_PWM2_DUTY(200); SET_PWM1_DUTY(200); } if ((them<=100)&&(quaytrai>=90)) {SET_PWM2_DUTY(them); SET_PWM1_DUTY(them); } if (them>100) {SET_PWM2_DUTY(them); SET_PWM1_DUTY(them); } DELAY_MS(200); SET_ADC_CHANNEL(1); //CHON KENH AN1 DE DOC GIA TRI ADC DELAY_US(10); AD2=READ_ADC(); //DOC GIA TRI ADC SET_ADC_CHANNEL(0); //CHON KENH AN0 DE DOC GIA TRI ADC DELAY_US(10); AD3=READ_ADC(); IF ((AD3<AD1)&&(ABS(AD2-AD0)<50)&&INPUT(PIN_B1)&&INPUT(PIN_B0)) //CHONG BI GIAT KHI QUAY TRAI { SET_PWM2_DUTY(255); SET_PWM1_DUTY(255); DELAY_MS(1000); OUTPUT_HIGH(PIN_D3); //TAT CHAN ROLE CHIEU DONG CO OUTPUT_HIGH(PIN_D7); } } IF ((100>AD0)&&(AD1<100)&&INPUT(PIN_B1)&&INPUT(PIN_B0 )) //CHAY lui RE PHAI { REPHAI1=(them+ABS(AD1-127)); REPHAI2=ABS(them-ABS(AD1-127)); SET_PWM2_DUTY(REPHAI1); SET_PWM1_DUTY(REPHAI2); } IF ((AD0<100)&&(AD1>145)&&INPUT(PIN_B1)&&INPUT(PIN_B0 )) //CHAY lui RE TRAI { RETRAI1=them+AD1-127; RETRAI2=ABS(them-(AD1-127)); SET_PWM2_DUTY(RETRAI1); SET_PWM1_DUTY(RETRAI2); } IF ((AD0>145)&&(AD1<100)&&INPUT(PIN_B1)&&INPUT(PIN_B0 )) //CHAY toi RE PHAI { LUIREPHAI1=(them+ABS(AD1-127)); LUIREPHAI2=ABS(them-ABS(AD1-117)); SET_PWM2_DUTY(LUIREPHAI1); SET_PWM1_DUTY(LUIREPHAI2); } IF ((AD0>145)&&(AD1>145)&&INPUT(PIN_B1)&&INPUT(PIN_B0 )) //CHAY LUI RE TRAI { LUIRETRAI2=(them+AD1-127); LUIRETRAI1=ABS(them-(AD1-127)); SET_PWM2_DUTY(LUIRETRAI2); SET_PWM1_DUTY(LUIRETRAI1); } } } thay đổi nội dung bởi: motngayno10, 11-05-2009 lúc 07:57 PM. |
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