Sharp ir distance sensor

HI.I'M WORKING FOR MY FINAL YEAR PROJECT WHICH IS I MAKE TO MAZE MAPPER ROBOT.FOR THIS PROJECT I USE 3 IR SENSORS (sharp GP2D120XJ00F),2 12VDC MOTOR WITH ENCODER (PD3046) AND 1 PIC18F4550 MICROCONTROLLER.I HAVE MAKE THE SENSORS CODING SEPARATELY BUT I CAN'T COMBINE THE 3 SENSORS CODING INTO 1 CODING.I'VE TRIED TO COMBINE THE SENSORS CODE BUT IT'S DOESN'T WORK AT ALL.HOW CAN I COMBINE THE 3 SENSORS?THERE'S ANYBODY CAN HELP ME TO SOLVE THE PROBLEM.FOR YOUR INFORMATION, I CONNECT THE 3 SENSORS AT THE PORTA0-A2.I ATTACH MY SENSORS CODE BELOW:

COMBINATION OF 3 SENSOR


define osc 8

defenition
DEFINE CCP1_REG PORTC ' Hpwm 1 pin port
DEFINE CCP1_BIT 2 ' Hpwm 1 pin bit
DEFINE CCP2_REG PORTC ' Hpwm 2 pin port
DEFINE CCP2_BIT 1 ' Hpwm 2 pin bit
DEFINE ADC_BITS 8 ' Set number of bits in result (8, 10 or 12)
DEFINE ADC_CLOCK 3 ' Set clock source (rc = 3)
DEFINE ADC_SAMPLEUS 50 ' Set sampling time in microseconds
MRCW1 VAR PORTD.4
MRCCW1 VAR PORTD.5 'MOTOR RIGHT DRIVE
MRCW2 VAR PORTD.6
MRCCW2 VAR PORTD.7 'MOTOR LEFT DRIVE
TRISD.4=0
TRISD.5=0
TRISD.6=0
TRISD.7=0
TRISA=1
ADCON1=%00001110
SENSOR1 VAR BYTE
SENSOR2 VAR BYTE
SENSOR3 VAR BYTE

HPWM 1,150,1000

main program
MAIN:

GOSUB fwd
pause 1000
GOSUB IR1
PAUSE 1000
GOSUB IR3
PAUSE 1000
GOSUB IR2
PAUSE 1000
GOTO MAIN

FWD:
HPWM 1,150,500
MRCCW1=0
MRCW1=1
HPWM 2,150,500
MRCCW2=1
MRCW2=0

RETURN

IR1:
ADCIN 0,SENSOR1

IF SENSOR1>46 THEN
GOSUB RIGHT
pause 1000

ELSE
if SENSOR1<46 THEN
GOSUB FWD
pause 1000
ENDIF
ENDIF
pause 1000

RETURN

IR2:
ADCIN 1,SENSOR2

IF SENSOR2>46 THEN
GOSUB BWD
pause 1000

ELSE
if SENSOR2<46 THEN
GOSUB fwd
pause 1000
ENDIF
ENDIF
pause 1000

RETURN

IR3:
ADCIN 2,SENSOR3

IF SENSOR3>46 THEN
GOSUB LEFT
pause 1000

ELSE
if SENSOR3<46 THEN
GOSUB FWD
pause 1000
ENDIF
ENDIF
pause 1000

RETURN

RIGHT:
HPWM 1,150,500
MRCCW1=0
MRCW1=1
HPWM 2,150,500
MRCCW2=0
MRCW2=0
RETURN

LEFT:
HPWM 1,150,500
MRCCW1=0
MRCW1=0
HPWM 2,150,500
MRCCW2=1
MRCW2=0
pause 1000
RETURN

BWD:
HPWM 1,150,500
MRCCW1=0
MRCW1=1
HPWM 2,150,500
MRCCW2=1
MRCW2=0
PAUSE 1000
GOSUB RIGHT

RETURN

FOR THE SEPARATE CODE OF SENSOR:

SENSOR 1

define osc 8

'defenition
DEFINE CCP1_REG PORTC ' Hpwm 1 pin port
DEFINE CCP1_BIT 2 ' Hpwm 1 pin bit
DEFINE CCP2_REG PORTC ' Hpwm 2 pin port
DEFINE CCP2_BIT 1 ' Hpwm 2 pin bit
DEFINE ADC_BITS 8 ' Set number of bits in result (8, 10 or 12)
DEFINE ADC_CLOCK 3 ' Set clock source (rc = 3)
DEFINE ADC_SAMPLEUS 50 ' Set sampling time in microseconds
MRCW1 VAR PORTD.4
MRCCW1 VAR PORTD.5 'MOTOR RIGHT DRIVE
MRCW2 VAR PORTD.6
MRCCW2 VAR PORTD.7 'MOTOR LEFT DRIVE
TRISD.4=0
TRISD.5=0
TRISD.6=0
TRISD.7=0
TRISA.0=1
ADCON1=%00001110
SENSOR1 VAR BYTE

HPWM 1,150,1000

'main program
MAIN:

GOSUB fwd
pause 1000
GOSUB IR1

GOTO MAIN

FWD:
HPWM 1,150,500
MRCCW1=0
MRCW1=1
RETURN

IR1:
ADCIN 0,SENSOR1

IF SENSOR1>46 THEN
GOSUB BREAK


ELSE
if SENSOR1<46 THEN
GOTO MAIN

ENDIF
ENDIF
pause 1000

GOTO IR1

BREAK:
HPWM 1,150,500
MRCCW1=0
MRCW1=0
RETURN


AND FOR SENSOR 2

define osc 8

'defenition
DEFINE CCP1_REG PORTC ' Hpwm 1 pin port
DEFINE CCP1_BIT 2 ' Hpwm 1 pin bit
DEFINE CCP2_REG PORTC ' Hpwm 2 pin port
DEFINE CCP2_BIT 1 ' Hpwm 2 pin bit
DEFINE ADC_BITS 8 ' Set number of bits in result (8, 10 or 12)
DEFINE ADC_CLOCK 3 ' Set clock source (rc = 3)
DEFINE ADC_SAMPLEUS 50 ' Set sampling time in microseconds
MRCW1 VAR PORTD.4
MRCCW1 VAR PORTD.5 'MOTOR RIGHT DRIVE
MRCW2 VAR PORTD.6
MRCCW2 VAR PORTD.7 'MOTOR LEFT DRIVE
TRISD.4=0
TRISD.5=0
TRISD.6=0
TRISD.7=0
TRISA.1=1
ADCON1=%00001100
SENSOR2 VAR BYTE

HPWM 1,150,1000

MAIN1:

GOSUB FWD
pause 1000
GOSUB IR2
GOTO MAIN1

FWD:
HPWM 1,150,500
MRCCW1=0
MRCW1=1
pause 1000
RETURN

IR1:

ADCIN 1,SENSOR2

IF SENSOR2>46 THEN
GOSUB BREAK

ELSE
if SENSOR2<46 THEN
GOTO MAIN1
ENDIF
ENDIF
goto IR2

BREAK:
HPWM 1,150,500
MRCCW1=0
MRCW1=0
RETURN


PLEASE HELP ME,I'M DESPERATELY NEED THE SOLUTION OF MY PROBLEM.THANK YOU.

Hi, hasnan ...

First, could you write LOWERCASE ??? ... thanks for other's eyes !

NOW, just Two Questions :

1) Is there a Comparators module aboard the 4550 ???

2) Do you think this is enough : " TRISA.1=1 " ???


Alain

Hi Alain,

For the answer of your question;

1.Yes,i have the Comparators module aboard the 4550 which is this 4550 have analog comparators on PORTA and another port.I will attach the picture of PIC18F4550.These 3 sensors were connected through PortA0 to PortA2.

2. Actually i used TRISA.1=1 just for test one of my sensor either it is function or not.I used the TRISA=1 so that all my 3 sensors active but the problem was from the instruction of ADCON1.there seems like the sensors not funtion when i used only 1 ADCON1 to combine all of 3 sensors.

oh yes alain i forgot to attach my schematic diagram of my project.i will attached my circuit diagram for your reference.