Dieu khien dong co 1 chieu dung 16f877a bang pp PWM ???

[dinhminh09]

code chua co encoder

#include <16F877A.h>
#include <def_877a.h>
#fuses NOWDT,NOPUT,HS,NOPROTECT,NOLVP,xt
#use delay(clock=10000000)
#use fast_io(b)

#define tocdo0 0 //toc do bang 0
#define td_macdinh 80 //toc do mac dinh
#define tocdo1 124 //1/5 toc do cuc dai
#define tocdo2 248 //2/5 toc do cuc dai
#define tocdo3 372 //3/5 toc do cuc dai
#define tocdo4 496 //4/5 toc do cuc dai
#define tocdo5 620 //toc do cuc dai

int16 duty1=0;
int16 duty2=0;
int8 bientocdo=0;
int1 bienthuan=0;
int1 biennghich=0;


#define low 0
#define high 1



void main() //bo PMW1 dk dco quay thuan
{ //bo PMW2 dk dco quay nghich

TRISB=0xff; //khoi tao port B la port nhap
setup_ccp1(CCP_PWM); //khoi tao bo PWM1
setup_ccp2(CCP_PWM); //khoi tao bo PWM2

setup_timer_2(T2_div_by_16,154,1); //tao chu ky xung 1ms
//(1/clock)*4*t2div*(period+1)
//(1/10e6)*4*16*(154+1)=1e-3=1ms

set_pwm1_duty(duty1); set_pwm2_duty(duty2);
//gia tri duty cua PWM duoc tinh theo cong thuc duty1*t2div/clock
//khoi tao duty=0 -> tat dong co
while(true)
{

if (input(pin_b1)== low) //neu nhan phim FO : chay thuan
{

set_pwm1_duty(duty1); //cho duty cua 2 bo PMW=0 de
set_pwm2_duty(duty2); //tat dong co
//delay 1s de giam quan tinh dong co

{
duty1 = tocdo0;
}
switch (bientocdo)
{
case 1: duty2= tocdo1;
break;
case 2: duty2= tocdo2;
break;
case 3: duty2= tocdo3;
break;
case 4: duty2= tocdo4;
break;
case 5: duty2= tocdo5;
break;
default : duty2 = td_macdinh;
break;
}
set_pwm1_duty(duty1); //cho dco chay nghich
set_pwm2_duty(duty2);

}


if (input(pin_b2)== low) //neu nhan phim RE : chay nghich
{

set_pwm1_duty(duty1); //cho duty cua 2 bo PMW=0 de
set_pwm2_duty(duty2); //tat dong co
//delay 1s de giam quan tinh dco

{
duty2 = tocdo0; }
switch (bientocdo)
{
case 1: duty1= tocdo1;
break;
case 2: duty1= tocdo2;
break;
case 3: duty1= tocdo3;
break;
case 4: duty1= tocdo4;
break;
case 5: duty1= tocdo5;
break;
default : duty1 = td_macdinh;
break;
}
set_pwm1_duty(duty1); //cho dco chay thuan
set_pwm2_duty(duty2);

}

if (input(pin_b3)== low) //nhan phim toc do 1
{
bientocdo=1;

}
if (input(pin_b4)== low) //nhan phim toc do 2
{
bientocdo=2;

}
if (input(pin_b5)== low) //nhan phim toc do 3
{
bientocdo=3;

}
if (input(pin_b6)== low) //nhan phim toc do 4
{
bientocdo=4;

}

if (input(pin_b7)== low) //nhan phim toc do 5
bientocdo=5;

if (input(pin_b0)== low) //neu nhan phim OFF
{
duty1=tocdo0;
duty2=tocdo0;
set_pwm1_duty(duty1); //cho duty cua 2 bo PMW=0 de
set_pwm2_duty(duty2); //tat dong co

}




}
}