Code:
'****************************************************************
'* Name : AdcServo2 : the ultimate vibrator ... *
'* Author : [select VIEW...EDITOR OPTIONS] *
'* Notice : Copyright (c) 2008 [select VIEW...EDITOR OPTIONS] *
'* : All Rights Reserved *
'* Date : 01/10/2008 *
'* Process.: 16F877a / EasyPic5 *
'* Version : 1.0 *
'* Notes : *
'* : *
'****************************************************************'
'******************************************************************************
' Config
@ device HS_OSC , WDT_ON , PWRT_ON , BOD_ON , LVP_OFF , protect_OFF
'******************************************************************************
'Defines
DEFINE OSC 8
DEFINE INTHAND _MAINLOOP
DEFINE HSER_TXSTA 20h 'SET THE TRANSMIT REGISTER TO TRANSMITTER ENABLED
DEFINE HSER_BAUD 9600 'SET BAUD RATE
'DEFINE ADCIN PARAMETERS
DEFINE ADC_BITS 10 'SET NUMBER OF BITS IN RESULT
DEFINE ADC_CLOCK 3 'SET CLOCK SOURCE (3=RC)
DEFINE ADC_SAMPLEUS 50 'SET SAMPLEING TIME IN uS
DEFINE LCD_DREG PORTB ' I/O port where LCD is connected
DEFINE LCD_DBIT 0 ' 0, 1, 2, 3
DEFINE LCD_RSREG PORTB
DEFINE LCD_RSBIT 4 ' Register select pin
DEFINE LCD_EREG PORTB
DEFINE LCD_EBIT 5 ' Enable pin
DEFINE LCD_BITS 4 ' 4-bit data bus
DEFINE LCD_LINES 2 ' LCD has 2 character lines
'******************************************************************************
' Comparator Config
CMCON = %00000111
'******************************************************************************
' Adc Config
ADCON0 = %11000001 'SET PORTA ANALOGUE AND RIGHT JUSTIFY THE RESULT
ADCON1 = %10001110
'******************************************************************************
' TMR1 Config : Preset = 45543 - Prescaler 1
'
T1CON = %00000000 'SETS THE TIMER1 VALUES - PRESCALER = 1
'******************************************************************************
' Interupts config
INTCON = %11000000 ' GIE + PIE
PIE1 = %00000001 ' TMR1IE
PIR1 = 0
PIE2 = 0
PIR2 = 0
'******************************************************************************
'Variables
wsave var byte $20 system ' just to avoid a compilator error ...
wsave1 var byte $a0 system
wsave2 var byte $120 system
wsave3 var byte $1a0 system
ssave var byte Bank0 system
psave var byte Bank0 system
POSITION VAR WORD 'POSITION OF SERVO1 1250 - 2500
TEMP var word
PLOW var word 'low part of the servo signal
COUNTER var word 'Timeout counter
PRESET var word
Delay var BYTE
RUN VAR BIT 'IS THE PROGRAM RUNNING
'******************************************************************************
'Aliases
GIE var INTCON.7
PEIE var INTCON.6
TMR1IE var PIE1.0
TMR1IF var PIR1.0
TMR1ON var T1CON.0
'******************************************************************************
' Variable presets
RUN = 0 'TEMPORARY VARIABLE FOR SERVO RUNNING
POSition = 150 ' Servo @ RestPositon.
counter = 0 ' timeout counter
PRESET = 25555
TMR1H = Preset.Highbyte ' Must be initialized ...
TMR1L = Preset.Lowbyte
'******************************************************************************
' Constants
SELECTOR CON 0 'Assign selector ADC Input to AN0
'******************************************************************************
' I/Os
SERVO1 var PORTC.0 'OUTPUT PIN FOR SERVO1
STARTSTOP VAR PORTA.4 'INPUT PIN FOR PUSHBUTTON
PORTA = %00010111
PORTB = 0
PORTC = 0
PORTD = 0
PORTE = 0
TRISA = %00000011
TRISB = 0
TRISC = 0
TRISD = 0
TRISE = 0
Pause 500
LCDOUT $FE, 1 ' Clear display, cursor off
'******************************************************************************
'******************************************************************************
MAINLOOP: ' Here we start a cycle ...
TMR1on = 0 ' Reload the timer ...
TMR1H = PRESET.Highbyte
TMR1L = PRESET.Lowbyte
TMR1IF = 0
TMR1ON = 1 ' Restart the timer
GIE = 1 ' Interrupts authorized
IF run THEN ' Run Button has to be pushed for first move
FINDPROGRAM: 'SELECTS BETWEEN SEVERAL TYPES OF MOTION
ADCIN Selector , TEMP 'READ CHANNEL 10 TO TEMP
SELECT CASE TEMP
Case is < 250
POSITION = 125
Case is <= 366
POSITION = 150
Case is <= 583
POSITION = 175
Case is <= 783
POSITION = 200
Case is <= 1000
POSITION = 225
Case is > 1000
POSITION = 250
End Select
low servo1
Pulsout Servo1, position
PLOW = 20000-POSITION
IF COUNTER.5 OR ! COUNTER THEN
'HSEROUT ["HIGH =" , DEC POSITION, " LOW =", DEC PLOW, 10,10,13]
LCDOUT $FE,2 ,"Position = ",dec position," ", $FE,$C0,"TEMP = ", dec TEMP," "
Endif
else
IF COUNTER.5 OR ! COUNTER THEN
'HSEROUT ["Waiting for RUN", 10,10,13,"HIGH =" , DEC POSITION, " LOW =", DEC PLOW, 10,10,13]
LCDOUT $FE,2 ,"Waiting for RUN", $FE,$C0,"Position = ", dec position
ENDIF
endif
'******************************************************************************
TESTINPUTS:
Delay = 0
Button Startstop,1,255,0,Delay,0,jump ' Button active LOW !!!
IF RUN THEN COUNTER = counter + 1
IF counter => 60000 then counter = 0 :goto jump
stop ' Stop here and wait for interrupt
' to launch a new cycle
JUMP:
WHILE STARTSTOP = 0 : wend
RUN = ~run
stop ' Stop here and wait for interrupt
' to launch a new cycle
END
enjoy ...
One last question.
Originally Posted by Acetronics
, which way do I head?
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