Line following robot

[samsoltats]

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:


#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

[mackrackit]

Not many here work in C.
You may have better luck getting help over here.
http://www.piclist.com/techref/piclist/index.htm

[Bruce]

CCS has a forum specifically to support the CCS C compiler http://www.ccsinfo.com/forum/