Line following robot

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  1. - 3rd September 2010, 11:14 #1
    samsoltats's Avatar
    samsoltats Guest

    Default Line following robot

    Good day
    I am currently experiencing problem with the PIC, it can be recognized by the PIC-kit2 and programmed but I cant see anything at the output.

    All the TRIS Reg for output and input pin are configured correctly, I even tried to write a simple blinking LED program it also does not work.

    I am using CCS compiler C language with PIC 16f877A this was working correctly before i staterd with the Sensors.
    The other thing I have realized is that the MPlab was not able to get to debugging mode when I tried it, then I uninstalled everything and installed it again but still setting at the problem. May you please help me, I have tried different new PIC already.

    Here is the program code:
    Code:
    #include<16f877A.h>
#fuses HS,NOWDT,NOPROTECT,NOLVP
#use delay(clock = 8000000, INT_OSC)

//page 130, datasheet
//choosing frequency = 4.90khz -> period = 204us
//t2DIV = 4
//timer2 prescaler, PR2 = 0x65
//to setup the value for the pwm function:
//Duty = duty cycle/(t2DIV(1/8000000))

void main()
{
   int remember = -1;
   long DutyR = 204;   //50% duty cycle
   long DutyL = 204;   //50% duty cycle
   set_tris_B(0xFF);
   set_tris_A(0x00);
   set_tris_D(0x00);
   setup_ccp1(CCP_PWM);   // Confiqure CCP1 as a PWM
   setup_ccp2(CCP_PWM);   //

   
   //

   setup_timer_2(T2_DIV_BY_4, 0x65, 1);   //sets the frequency of the pwm
   
   set_pwm1_duty(DutyL);      
   set_pwm2_duty(DutyR);
   //delay_ms(1000);

   while(TRUE)
      
   {
      //if DutyL>=DutyR remember is equal to 1 else remember = 0
//stop All High    
if (input(PIN_B0) == 1 && input(PIN_B1)==1 && input(PIN_B2)==1 && input(PIN_B3)== 1 && input(PIN_B4)==1 && input(PIN_B5)==1 && input(PIN_B6 )==1)
      {
          DutyR= 0;
          DutyL= 0;
          output_low(PIN_d3);
          output_low(PIN_d2);
         // remember = 1;
           
      }
// Stop
         else if (input(PIN_B0) == 0 && input(PIN_B1)==0 && input(PIN_B2)==0 && input(PIN_B3)== 0 && input(PIN_B4)==0 && input(PIN_B5)==0 && input(PIN_B6 )==0)
          {
          DutyR= 0;
          DutyL= 0;
          output_low (PIN_d3);
          output_low(PIN_d2);
          //remember = 0;
          }

   // sharp turn left "A"
       else if (input(PIN_B0) == 1 && input(PIN_B1)==0 && input(PIN_B2)==0 && input(PIN_B3)== 1 && input(PIN_B4)==0 && input(PIN_B5)==0 && input(PIN_B6 )==0)
      {
          DutyR= 408;
          DutyL= 408;
          output_high(PIN_d3);
          output_low (PIN_d2);
         // remember = 1;
        
      }
// sharp turn left "with no B3"
       else if (input(PIN_B0) == 1 && input(PIN_B1)==0 && input(PIN_B2)==0 && input(PIN_B3)== 0 && input(PIN_B4)==0 && input(PIN_B5)==0 && input(PIN_B6 )==0)
      {
          DutyR= 408;
          DutyL= 408;
          output_high(PIN_d3);
          output_low (PIN_d2);
         // remember = 1;
        
      }
//Sharp turn Right "B"
          else if (input(PIN_B0) == 0 && input(PIN_B1)==0 && input(PIN_B2)==0 && input(PIN_B3)== 1 && input(PIN_B4)==0 && input(PIN_B5)==0 && input(PIN_B6 )==1)
      {
          DutyR= 408;
          DutyL= 408;
          output_low(PIN_d3);
          output_high(PIN_d2);
         // remember = 1;
          
     
      }
//Sharp turn Right "B"
          else if (input(PIN_B0) == 0 && input(PIN_B1)==0 && input(PIN_B2)==0 && input(PIN_B3)== 0 && input(PIN_B4)==0 && input(PIN_B5)==0 && input(PIN_B6 )==1)
      {
          DutyR= 408;
          DutyL= 408;
          output_low(PIN_d3);
          output_high(PIN_d2);
         // remember = 1;
          
      }
//   turn moderately to Left1 "C"
      else if (input(PIN_B0) == 0 && input(PIN_B1)==0 && input(PIN_B2)==1 && input(PIN_B3)== 1 && input(PIN_B4)==0 && input(PIN_B5)==0 && input(PIN_B6 )==0)
      {
          DutyR= 306;
          DutyL= 204;
          output_high(PIN_d3);
          output_low(PIN_d2);
          remember = 0;

      }
//   turn moderately to Left2 "C"
      else if (input(PIN_B0) == 0 && input(PIN_B1)==0 && input(PIN_B2)==1 && input(PIN_B3)== 0 && input(PIN_B4)==0 && input(PIN_B5)==0 && input(PIN_B6 )==0)
      {
          DutyR= 306;
          DutyL= 204;
          output_high(PIN_d3);
          output_low(PIN_d2);
         // remember = 0;

      }
//   Turn moderately to Right1   "D"
        else if (input(PIN_B0) == 0 && input(PIN_B1)==0 && input(PIN_B2)==0 && input(PIN_B3)== 1 && input(PIN_B4)==1 && input(PIN_B5)==0 && input(PIN_B6 )==0)
      {
      
          DutyR=204;
          DutyL=306;
          output_low(PIN_d3);
          output_high(PIN_d2);
          remember = 0;
      }
//   Turn moderately to Right2   "D"
        else if (input(PIN_B0) == 0 && input(PIN_B1)==0 && input(PIN_B2)==0 && input(PIN_B3)== 0 && input(PIN_B4)==1 && input(PIN_B5)==0 && input(PIN_B6 )==0)
      {
      
          DutyR=204;
          DutyL=306;
          output_low(PIN_d3);
          output_high(PIN_d2);
          remember = 0;
      }

//     turn Left1 "E"
         else if (input(PIN_B0) == 0 && input(PIN_B1)==0 && input(PIN_B2)==1 && input(PIN_B3)== 1 && input(PIN_B4)==0 && input(PIN_B5)==0 && input(PIN_B6 )==0)
          {
          DutyR= 306;
          DutyL= 102;
          output_high(PIN_d3);
          output_low(PIN_d2);
          remember = 0;
          }
//     turn Left2 "E"
         else if (input(PIN_B0) == 0 && input(PIN_B1)==0 && input(PIN_B2)==1 && input(PIN_B3)== 0 && input(PIN_B4)==0 && input(PIN_B5)==0 && input(PIN_B6 )==0)
          {
          DutyR= 306;
          DutyL= 102;
          output_high(PIN_d3);
          output_low(PIN_d2);
         // remember = 0;
          }
//     turn Left3 "E"
         else if (input(PIN_B0) == 0 && input(PIN_B1)==1 && input(PIN_B2)==1 && input(PIN_B3)== 1 && input(PIN_B4)==0 && input(PIN_B5)==0 && input(PIN_B6 )==0)
          {
          DutyR= 306;
          DutyL= 102;
          output_high(PIN_d3);
          output_low(PIN_d2);
         // remember = 0;
          }
//     turn Left4 "E"
         else if (input(PIN_B0) == 0 && input(PIN_B1)==1 && input(PIN_B2)==1 && input(PIN_B3)== 0 && input(PIN_B4)==0 && input(PIN_B5)==0 && input(PIN_B6 )==0)
          {
          DutyR= 306;
          DutyL= 102;
          output_high(PIN_d3);
          output_low(PIN_d2);
         // remember = 0;
          }

//turn Right1 "F"   
        else if (input(PIN_B0) == 0 && input(PIN_B1)==0 && input(PIN_B2)==0 && input(PIN_B3)== 1 && input(PIN_B4)==1 && input(PIN_B5)==0 && input(PIN_B6 )==0)
          {
          DutyR= 306;
          DutyL= 102;
          output_low(PIN_d3);
          output_high(PIN_d2);
          remember = 0;
          }

//turn Right2 "F"   
        else if (input(PIN_B0) == 0 && input(PIN_B1)==0 && input(PIN_B2)==0 && input(PIN_B3)== 0 && input(PIN_B4)==1 && input(PIN_B5)==0 && input(PIN_B6 )==0)
          {
          DutyR= 306;
          DutyL= 102;
          output_low(PIN_d3);
          output_high(PIN_d2);
          remember = 0;
          }
//turn Right3 "F"   
        else if (input(PIN_B0) == 0 && input(PIN_B1)==0 && input(PIN_B2)==0 && input(PIN_B3)== 1 && input(PIN_B4)==1 && input(PIN_B5)==1 && input(PIN_B6 )==0)
          {
          DutyR= 306;
          DutyL= 102;
          output_low(PIN_d3);
          output_high(PIN_d2);
          remember = 0;
          }
//turn Right4 "F"   
        else if (input(PIN_B0) == 0 && input(PIN_B1)==0 && input(PIN_B2)==0 && input(PIN_B3)== 0 && input(PIN_B4)==1 && input(PIN_B5)==1 && input(PIN_B6 )==0)
          {
          DutyR= 306;
          DutyL= 102;
          output_low(PIN_d3);
          output_high(PIN_d2);
          remember = 0;
          }

// Go Straight "D"
         else if (input(PIN_B0) == 0 && input(PIN_B1)==0 && input(PIN_B2)==0 && input(PIN_B3)== 1 && input(PIN_B4)==0 && input(PIN_B5)==0 && input(PIN_B6 )==0)
          {
          DutyR= 204;
          DutyL= 204;
          output_high (PIN_d3);
          output_high(PIN_d2);
          remember = 0;
          }
// Go Straight "2" possibility
         else if (input(PIN_B0) == 0 && input(PIN_B1)==0 && input(PIN_B2)==1 && input(PIN_B3)== 1 && input(PIN_B4)==1 && input(PIN_B5)==0 && input(PIN_B6 )==0)
          {
          DutyR= 204;
          DutyL= 204;
          output_high (PIN_d3);
          output_high(PIN_d2);
          remember = 0;
          }
         
        /*else if (remember==1)
         //{
            DutyR = 306;
            DutyL = 102;
         }*/
         set_pwm1_duty(DutyL);      
         set_pwm2_duty(DutyR);
      
   } 
}
    All regard
    Last edited by ScaleRobotics; - 3rd September 2010 at 16:13. Reason: added code tags
  2. - 3rd September 2010, 11:32 #2
    mackrackit's Avatar
    mackrackit
    mackrackit is offline SuperMod
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    Default

    Not many here work in C.
    You may have better luck getting help over here.
    http://www.piclist.com/techref/piclist/index.htm
    Dave
    Always wear safety glasses while programming.
  3. - 3rd September 2010, 16:01 #3
    Bruce's Avatar
    Bruce
    Bruce is offline Prolific Poster
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    CCS has a forum specifically to support the CCS C compiler http://www.ccsinfo.com/forum/
    Regards,

    -Bruce
    tech at rentron.com
    http://www.rentron.com
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