Robotraffic software and programming aids Robotics Laboratory Faculty of Mechanical Engineering...

RobotrafficRobotraffic

software and programming aidssoftware and programming aids

Robotics LaboratoryRobotics Laboratory

Faculty of Mechanical EngineeringFaculty of Mechanical Engineering

Technion Israel Institute of Technion Israel Institute of TechnologyTechnology

PICKit 2

RS232

IrDA

Encoder

Run/Stop

5Vdc out

Power input

Strip sensor Distance Sensor Servo Motor

DC Motor

Select

rs232 Select

rs232 or IrDA

BUS jumpers

Fuse 5A

Car main boardCar main board

Reset

PICKit 2 (J3)1 - pin Vpp2 – pin Vdd3 – pin Gnd4 – pin PGD5 - pin PGC

RS232 (J1)1 – pin RX2 - pin Gnd3 – pin TX

IrDA (J9)1 –pin Vdd2 – pin Gnd3 – pin RXIr4 – pin TXIr

Encoder (J13)1 – pin Vdd2 – pin Gnd3 – pin QEA4 – pin QEB5 – pin Index

Run/Stop (J15)Open RC2->HighClose RC2 -> Low

5Vdc out (J16)1 – pin +5Vdc2 - Gnd

Reset (J6)1 – pin Reset2 - Gnd

Power input (J2)1 – pin (+) Battery2 – pin (-) Battery

Strip sensor (J11)1 – pin Vdd2 – pin Gnd3 – pin Left4 – pin BL5 – pin BR6 – pin Right7 – pin Stop

Distance Sensor (J12)1 – pin Vdd2 – pin Gnd3 - pin Left4 – pin Right

Servo Motor (J14)1 –pin Vm2 – pin Input3 – pin Gnd

DC Motor (J10)1 – pin (+)Motor2 – pin (-)Motor

BUS jumpers

Fuse 5A

1-2 close RS232

2-3 close IrDA

Car main boardCar main board

PIC18F4431 external device connection jumpersPIC18F4431 external device connection jumpers

PIC18F4431 PORTAPIC18F4431 PORTA

TRISA = 0x00; TRISA0 = 0; PORTA = 0xFA; RA0 = 1;TRISA = 0xFF; TRISA0 = 1; char a = PORTA;

Exercise_1 Port setup

#include<htc.h>

char a = 0x55;

void main(void) { TRISA = 0xf0; // b11111111 all bits, are input TRISA6 = 0; // bit RA6 set to output

PORTA = a;

}

#include<htc.h>#include<htc.h>char a;char a;void initialization (void);void initialization (void);void interrupt ISR(void);void interrupt ISR(void);

/*==============================================================*//*==============================================================*/void initialization (void)void initialization (void)

{{/* Interrupt init *//* Interrupt init */

IPENIPEN = 1;= 1; /* Interrupt Priority Enable bit, 1 = Enable priority levels on interrupts /* Interrupt Priority Enable bit, 1 = Enable priority levels on interrupts */*/

/* 0 = Disable priority levels on interrupts *//* 0 = Disable priority levels on interrupts */ GIEHGIEH = 1;= 1; /* Enables all high priority interrupts *//* Enables all high priority interrupts */GIELGIEL = 1;= 1; /* Enables all low priority peripheral interrupts *//* Enables all low priority peripheral interrupts */

/* init TMR0 *//* init TMR0 */T0CONT0CON = 0x46;= 0x46; /* 16-bit 1:2 prescale value *//* 16-bit 1:2 prescale value */TMR0LTMR0L = 0x80;= 0x80; /* prescaler for the Timer0 module *//* prescaler for the Timer0 module */TMR0HTMR0H = 0x00;= 0x00; /* prescaler for the Timer0 module *//* prescaler for the Timer0 module */

TMR0IPTMR0IP = 1;= 1; /* TMR0 Overflow Interrupt Priority bit, High priority *//* TMR0 Overflow Interrupt Priority bit, High priority */TMR0IETMR0IE = 1;= 1; /* Enables the TMR0 overflow interrupt *//* Enables the TMR0 overflow interrupt */TMR0IFTMR0IF = 0;= 0; /* TMR0 Overflow Interrupt Flag bit *//* TMR0 Overflow Interrupt Flag bit */

/* I/O ports *//* I/O ports */TRISATRISA = 0xff;= 0xff; /* Port A data direction *//* Port A data direction */TRISBTRISB = 0x00;= 0x00; /* Port B data direction *//* Port B data direction */

}}/*==============================================================*//*==============================================================*/void interrupt ISR(void)void interrupt ISR(void)

{{if((TMR0IF)&&(TMR0IE))if((TMR0IF)&&(TMR0IE))

{{ PORTB = a;PORTB = a; a++;a++;

TMR0LTMR0L = 0x80;= 0x80; /* prescaler for the Timer0 module *//* prescaler for the Timer0 module */ TMR0HTMR0H = 0x00;= 0x00; /* prescaler for the Timer0 module *//* prescaler for the Timer0 module */

TMR0IFTMR0IF = 0;= 0; /* TMR0 Overflow Interrupt Flag bit *//* TMR0 Overflow Interrupt Flag bit */}}

}}

/*==============================================================*//*==============================================================*/void main (void)void main (void){{ initialization ();initialization (); TMR0ON = 1; /* Timer0 On/Off Control bit, 1 = Enables Timer0 */TMR0ON = 1; /* Timer0 On/Off Control bit, 1 = Enables Timer0 */ while(1)while(1) { { } } }}

ENHANCED UNIVERSAL SYNCHRONOUS ASYNCHRONOUS RECEIVER TRANSMITTER (EUSART)