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คู่มือการใช้งานหุ่นยนต์ Robo-PICA
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(C) Innovative Experiment Co.,Ltd.
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PORTB.F3=0; // LED_ONDelay_ms(500);PORTB.F3=1; // LED_OFFDelay_ms(500);
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void main() TRISA.F1=0; // Set RB3 ==> Output PORTA.F1=1; // Turn on RB3
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void main()
ANSELH.F4=0; // RB0 ==> Digital inputTRISB.F3=0; // RB3 ==> Digital Outputwhile(1) // Infinite Loop
if(PORTB.F0==0) // Check RB0 Press ?
PORTB.F3=1; // ON ==> RB3if(PORTA.F4==0) // Check RA4 Press ?
PORTB.F3=0; // OFF ==> RB3
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char *text1 = "Innovative"; // Save Textchar *text2 = "Experiment";
void main()
Lcd_Init(&PORTD); // Config PORTD connect LCDLcd_Cmd(LCD_CURSOR_OFF); // Setting cursor of LCD offwhile(1)
Lcd_Out(1,4,text1); // Show "Innovative" in Line 1Lcd_Out(2,4,text2); // Show "Experiment" int Line 2Delay_ms(5000);Lcd_Cmd(LCD_CLEAR); // Blink LCDDelay_ms(500);
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int i=0;char txt[6]; // Save 16 bit 0-65535void main()
Lcd_Init(&PORTD); // Config PORTD connect LCDLcd_Cmd(LCD_CURSOR_OFF); // Setting cursor of LCD offLcd_Cmd(LCD_CLEAR); // Clear Screen FirstLcd_Out(1,1,"Counter= "); // Show Text
while(1)
i++; // CountWordToStr(i,txt); // Convert to StringLcd_Out(1,10,txt); // Show Counter ==> LCDDelay_ms(100);
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void main()
Sound_Init(&PORTC, 0); // Init Soundwhile(1)
if (!PORTA.F4) // Test RA4 keypresssound_play(250,50); // 2 kHz sound ON RC0
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void main()/* Initial port for control motor */
ANSELH=0x00 ; // Set PORTB => DigitalTRISB.F1=0;TRISB.F2=0; // Motor M-2 2A,Motor M-2 2BTRISD.F0=0;TRISD.F1=0; // Motor M-1 1A,MOtor M-1 1BTRISC.F1=0;TRISC.F2=0; // Motor M-2 2E,Motor M-1 1EPORTC.F1=1;PORTC.F2=1; // Enable Motor M-2,Enable Motor M-1
/* Triangle running robot */while(1)
PORTD.F0 =0;PORTD.F1 =1; // Motor M-1 ForwardPORTB.F1 =0;PORTB.F2 =1; // Motor M-2 ForwardDelay_ms(2000);PORTB.F1 =1;PORTB.F2 =0; // Motor M-2 BackwardDelay_ms(800);
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void Pwm_Init(unsigned long freq);
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void Pwm_Change_Duty(unsigned short duty_ratio);
duty_ratio %&'())
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void Pwm_Start(void);
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void Pwm_Stop(void);
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void main()/* Initial port for control motor */
ANSELH.F0=0; // RB1 ==> Digital IOANSELH.F2=0; // RB2 ==> Digital IOTRISB.F1=0; // Motor M-2 2ATRISB.F2=0; // Motor M-2 2BTRISD.F0=0; // Motor M-1 1ATRISD.F1=0; // MOtor M-1 1B
/* Initial PWM module freq = 5 kHz */Pwm1_Init(5000); // Initail PWM 1EPwm2_Init(5000); // Initail PWM 2E
/* Start PWM and set duty cycle 100% */Pwm1_Start();Pwm2_Start();Pwm1_Change_Duty(190); // Motor M-1 75% SpeedPwm2_Change_Duty(190); // Motor M-2 75% Speed
/* Triangle running robot */while(1)
PORTD.F0 =0;PORTD.F1 =1; // Motor M-1 ForwardPORTB.F1 =0;PORTB.F2 =1; // Motor M-2 ForwardDelay_ms(2000);PORTB.F1 =1;PORTB.F2 =0; // Motor M-2 BackwardDelay_ms(800);
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Pwm2_Change_Duty(190); // Motor M-2 75% Speed
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void main()/* Initial port for control motor */ ANSELH=0x00; // PORTB ==> Digital IO TRISB.F1=0; // Motor M-2 2A TRISB.F2=0; // Motor M-2 2B TRISD.F0=0; // Motor M-1 1A TRISD.F1=0; // MOtor M-1 1B
/* Initial PWM module freq = 5 kHz */ Pwm1_Init(5000); // Initail PWM 1E Pwm2_Init(5000); // Initail PWM 2E
/* Start PWM and set duty cycle 100% */ Pwm1_Start(); Pwm2_Start(); Pwm1_Change_Duty(255); // Motor M-1 100% Speed Pwm2_Change_Duty(220); // Motor M-2 86% Speed while(PORTB.F0==1);/* Oval running robot */ PORTD.F0 =0;PORTD.F1 =1; // Motor M-1 Forward PORTB.F1 =0;PORTB.F2 =1; // Motor M-2 Forward
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char motor_duty_= 127; // Defalt PWM 50%char motor_init_=0; // Status initial
// Motor M-1 : PD0 ====> 1A PD1 ====> 1B PC2 ====> 1E (PWM1)
// Motor M-2 : PB1 ====> 2A PB2 ====> 2B PC1 ====> 2E (PWM2)
//********** Initial Motor Function ******************void Motor_Init()
if (motor_init_==0) // First time ?
motor_init_=1; // StatusANSELH.F0=0; // RB1 ==> Digital IOANSELH.F2=0; // RB2 ==> Digital IOTRISB.F1=0; // Motor B 2ATRISB.F2=0; // Motor B 2BTRISD.F0=0; // Motor A 1ATRISD.F1=0; // MOtor A 1BPwm1_Init(5000); // Initail PWM 1EPwm2_Init(5000); // Initail PWM 2E
//********** Control Duty Cycle *********************/void Change_Duty(char speed)
if (speed != motor_duty_) // Check Same old speed
motor_duty_=speed; // Save for old speedPwm1_Change_Duty(speed); // Motor APwm2_Change_Duty(speed); // Motor B
//********** Motor A Forward ********void Motor_A_FWD()
Pwm1_Start();PORTD.F0 =0; PORTD.F1 =1;
/********** Motor B Forward ********/void Motor_B_FWD()
Pwm2_Start();PORTB.F1 =0; PORTB.F2 =1;
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/********** Motor A Backward *******/void Motor_A_BWD()
Pwm1_Start();PORTD.F0 =1; PORTD.F1 =0;
/********** Motor B Backward *******/void Motor_B_BWD()
Pwm2_Start();PORTB.F1 =1; PORTB.F2 =0;
/********** Motor A Off ************/void Motor_A_Off()
Pwm1_Stop();PORTD.F0 =0; PORTD.F1 =0;
/********** Motor B Off ************/void Motor_B_Off()
Pwm2_Stop();PORTB.F1 =0; PORTB.F2 =0;
/********** Go Forward ************/void Forward(char speed)
Motor_Init();Change_Duty(speed);Motor_A_FWD();Motor_B_FWD();
/********** Go Backward ************/void Backward(char speed)
Motor_Init();Change_Duty(speed);Motor_A_BWD();Motor_B_BWD();
/********** Spin Left *************/void S_Right(char speed)
Motor_Init();Change_Duty(speed);Motor_A_FWD();Motor_B_BWD();
/********** Spin Right ************/void S_Left(char speed)
Motor_Init();Change_Duty(speed);Motor_A_BWD();Motor_B_FWD();
/********** Stop Motor ************/void Motor_Stop()
Motor_Init();Change_Duty(0);Motor_A_Off();Motor_B_Off();
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Sound_Init(&PORTC, 0); // Init Soundwhile(PORTA.F4==1);Sound_Play(250,50); // 2kHz sound ON RC0Forward(255); // Call ForwardDelay_ms(2000);
Sound_Play(250,50); // 2kHz sound ON RC0S_Left(255); // Call Spin LeftDelay_ms(800);
Sound_Play(250,50); // 2kHz sound ON RC0Forward(255); // Call ForwardDelay_ms(2000);
Sound_Play(250,50); // 2kHz sound ON RC0S_Right(255); // Call Spin RightDelay_ms(800);
Sound_Play(250,50); // 2kHz sound ON RC0Forward(255); // Call ForwardDelay_ms(2000);
Sound_Play(250,50); // 2kHz sound ON RC0S_Left(255); // Call Spin LeftDelay_ms(800);
Sound_Play(250,50); // 2kHz sound ON RC0Backward(255); // Call BackwardDelay_ms(1000);
Sound_Play(250,50); // 2kHz sound ON RC0Motor_Stop(); // Stop all
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int Adc_Rd(char ch) // Low 8 Channel ADC read
int dat=0; // Save ADCif ((ch>=0) && (ch<=3)) // CH0-CH3
TRISA |= (1<<ch);else if (ch==4) // CH4
TRISA |= 0x20;else if ((ch>=5) && (ch<=7)) // CH5-CH7
TRISE |= (1<<(ch-5));ANSEL |=(1<<ch); // Set channel to analog
ADCON0 = (0xC1 + (ch*4)); // Select ADC Channel Delay_us(10); // Acquisiton delay ADCON0.GO=1; // Start conversion while(ADCON0.GO); // Conversion done? dat = (ADRESH*4)+(ADRESL/64); // Sum highbyte and lowbyte
return dat; // Return value
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/***** Show ADC from RA0 to LCD ***/
char txt[6]; // Save testint adc;void main()
Delay_ms(1000);
Lcd_Init(&PORTD); // Init LCD PortLcd_Cmd(LCD_CURSOR_OFF); // LCD cursor offLcd_Out(1,1,"SENSOR0 = "); // Show Text
TRISA = 0xFF; // PORTA ==> inputANSEL = 0xFF; // PORTA ==> AnalogADCON0=0b11000001; // Select Analog1 RC_Mode and ADONwhile(1)
ADCON0.GO=1; // Start conversion while(ADCON0.GO); // conversion done? adc= (ADRESH*4)+(ADRESL/64); // Sum highbyte and lowbyte WordToStr(adc,txt); // Convert to ASCII Lcd_Out(1,10,txt); // Show on LCD Delay_ms(100);
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#include <adc.h>int GP2=0;float Distance;char txt1[6];char txt[13]; // Save Stringchar *text1 ="RAW Value=";char *text2 ="Far= CM";char *text3 = "Out of Range";
void main()
Lcd_Init(&PORTD); // Init LCD PortLcd_Cmd(LCD_CURSOR_OFF); // LCD cursor offLcd_Cmd(LCD_CLEAR);while(1)
GP2=Adc_Rd(2); // Read ADC CH 2WordToStr(GP2,txt1); // Convert Raw Data to StringLcd_Cmd(LCD_CLEAR); // Clear ScreenLcd_Out(1,1,text1); // Show Line 1 TextLcd_Out(1,12,txt1); // Show Raw Dataif (GP2>90) // Check Gp2 Out of Range ?
Distance=(2914.0/(GP2+5))-1; // Convert to CentimeterFloatToStr(Distance,txt); // Convert to StringLcd_Out(2,1,text2); // Show on LCDLcd_Out(2,5,txt);
else
Lcd_Out(2,1,text3); // Show Out of RangeDelay_ms(400);
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#include <adc.h>#include <motor.h>
int GP2=0,CNT=0; // Variablechar txt[6],i,Round=0;char *text1="Object Detector";char *text2="Distance =";void main()
Sound_Init(&PORTC,0); // Init Sound ==> RC0Lcd_Init(&PORTD); // Init LCD PORT DLcd_Cmd(LCD_CURSOR_OFF); // LCD cursor offLcd_Cmd(LCD_CLEAR);Lcd_Out(1,1, "<< RA4 >> Start");Lcd_Out(2,1,"GP2 Reading");while(PORTA.F4==1); // Start Program when Press RA4
/********************************************/Lcd_Cmd(LCD_CLEAR); // Show TextLcd_Out(1,1,text1);Lcd_Out(2,1,text2);while(1)
for (i=0;i<10;i++)GP2+=Adc_Rd(2); // Read Gp2 10 TimeGP2=GP2/10; // and AverageCNT++; // Counter For Show LCDif (CNT>600)
CNT=0;WordToStr(GP2,Txt); // Show LCDLcd_Out(2,11,Txt);
if (GP2>500) // Check Gp2 Out of Range ?
Round++; // Counter For Rotate RobotBackward(255);WordToStr(GP2,Txt);Lcd_Out(2,11,Txt);Sound_Play(250,100);Delay_ms(500);if (Round>5) // Right 5 Time ?
Round=0;S_Right(255);Delay_ms(1000);
else // More Then 5 Time ==> Left
S_Left(255);Delay_ms(1000);
Forward(255); // Not Found Object => Forward
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/***** Show ADC from RA0 to LCD ***/
char txt[6]; // Save testchar i;int adc;
int Adc_Rd(char ch) // Low 8 Channel ADC Read
int dat=0; // Save Adcif ((ch>=0) && (ch<=3)) // CH0-CH3
TRISA |= (1<<ch);else if (ch==4) // CH4
TRISA |= 0x20;else if ((ch>=5) && (ch<=7)) // CH5-CH7
TRISE |= (1<<(ch-5)); ANSEL |=(1<<ch); // set Channel to Analog ADCON0 = (0xC1 + (ch*4)); // Select ADC Channel Delay_us(10); // Acquisiton delay ADCON0.GO=1; // Start conversion while(ADCON0.GO); // conversion done? dat = (ADRESH*4)+(ADRESL/64); // Sum highbyte and lowbyte
return dat; // Return Value
void main()
Lcd_Init(&PORTD); // Init LCD PortLcd_Cmd(LCD_CURSOR_OFF); // LCD cursor offLcd_Cmd(LCD_CLEAR);Lcd_Out(1,1, "<< RA4 >> Start"); // keypresswhile(PORTA.F4==1);
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/********************************/// Start Program/********************************/
Lcd_Cmd(LCD_CLEAR);Lcd_Out(1,1,"SENSOR0 = "); // Show Text Line1Lcd_Out(2,1,"SENSOR1 = "); // Line2
while(1)
adc= Adc_Rd(0);WordToStr(adc,txt); // Convert to ASCIILcd_Out(1,10,txt); // Show on LCD Line1adc= Adc_Rd(1);WordToStr(adc,txt); // Convert to ASCIILcd_Out(2,10,txt); // Show on LCD Line2Delay_ms(100);
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#include <motor.h> // Motor Control Library#include <adc.h> // Use Analog to Digital Library
/* Text For Show On LCD */char *text1 = "Edge of a table" ;char *text2 = "From Left";char *text3 = "From Right";char *text4 = "Let'Go" ;char *text5 = "Route Clear";
char flag=0;int ADC=0;void main()
Lcd_Init(&PORTD); // Init LCD PortLcd_Cmd(LCD_CURSOR_OFF); // LCD cursor offLcd_Cmd(LCD_CLEAR);Lcd_Out(1,1, "<< RA4 >> Start"); // Check Key Presswhile(PORTA.F4==1);
while(1)
ADC =Adc_Rd(0); // Reading sensor from leftif (ADC<100) // Left sensor detect edge of table ?
flag=0; // Clear flagBackward(255);Lcd_Cmd(LCD_CLEAR); // Show text on LCD
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ADC =Adc_Rd(1); // Reading sensor from right if (ADC<100) // Right sensor detects edge of table ?
flag=0; // Clear flagBackward(255);Lcd_Cmd(LCD_CLEAR); // Show LCD textLcd_Out(1,1,text1);Lcd_Out(2,1,text3);Delay_ms(400);S_Left(255); // Change routeDelay_ms(900);
forward(255); // Normal ==> Forward if (flag==0) // Check first time of LCD showing ?
flag=1;Lcd_Cmd(LCD_CLEAR); // Show LCDLcd_Out(1,1,text4);Lcd_Out(2,1,text5);
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#include <motor.h> // Motor Control library#include <adc.h> // Analog to Digital converter library
/*********** Text on LCD **************/char *text0 = "Forward Only";char *text1 = "Found Line" ;char *text2 = "On Left";char *text3 = "On Right";char *text4 = "Not Found Line";char *text5 = "Cross Number";char Cnt=0; // Counterchar txt[4]; // Save stringchar First_Time=5; // Save statusint ADC1=0,ADC2=0;void main()/* LCD Initial */
Lcd_Init(&PORTD); // Init LCD portLcd_Cmd(LCD_CURSOR_OFF); // LCD cursor offLcd_Cmd(LCD_CLEAR);
/* Sound Initial */Sound_Init(&PORTC,0);
/* Check Key Press*/Lcd_Out(1,1, "<< RA4 >> Start");Lcd_Out(2,1,"Line Tracking");while(PORTA.F4==1); // Start program when press RA4 switchwhile(1)
ADC1 =Adc_Rd(0); // Reading sensor from left ADC2 =Adc_Rd(1); // Reading sensor from right if ((ADC1<300)&&(ADC2<300)) // Check both sensors detect white
if (First_Time!=0) // Check as first time ?
First_Time=0; // Change status => Second_TimeCnt++;Lcd_Cmd(LCD_CLEAR); // Show ==> LCDLcd_Out(1,1,text5);Lcd_Out(2,1,text0);ByteToStr(Cnt,txt); // Convert counter to stringLcd_Out(1,13,txt); // Show counter ==> LCDSound_Play(250,100); // Play sound when meet the crossingForward(255); // Running RobotDelay_ms(400);
if ((ADC1>300)&&(ADC2>300)) // Check both sensor detect white area
if (First_Time!=1) // Check first time ?
First_Time=1; // Change status => Second_TimeLcd_Cmd(LCD_CLEAR); // Shcw ==> LCDLcd_Out(1,1,text4);Lcd_Out(2,1,text0);Forward(255);
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S_Left(255); // Turn leftif (First_Time!=2)
First_Time=2; // Clear first time statusLcd_Cmd(LCD_CLEAR); // Show ==> LCDLcd_Out(1,1,text1);Lcd_Out(2,1,text2);
if (ADC2<300) // Right sensor detect black line
S_Right(255); // Turn rightif (First_Time!=3)
First_Time=3; // Clear first time statusLcd_Cmd(LCD_CLEAR); // Show ==> LCDLcd_Out(1,1,text1);Lcd_Out(2,1,text3);
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void interrupt() // Interrupt Service routine
Sound_Play(250,200); // Show SoundINTCON.INTF=0; // Clear Flag Interrupt
void main()/********************************************/
ANSELH.F4=0; // RB0 ==> Digital IOOPTION_REG.INTEDG = 0; // INT falling edgeINTCON.INTE =1; // Enable INT/PB0INTCON.GIE =1; // Enable Global interrupt
/********************************************/TRISB.F3=0;Sound_Init(&PORTC,0); // Init Sound ==> RC0Lcd_Init(&PORTD); // Init LCD PORT DLcd_Cmd(LCD_CURSOR_OFF); // LCD cursor offLcd_Cmd(LCD_CLEAR);Lcd_Out(1,1, "<< RA4 >> Start");Lcd_Out(2,1,"Test Interrupt");while(PORTA.F4==1); // Start Program when Press RA4
/********************************************/Lcd_Cmd(LCD_CLEAR);Lcd_Out(1,1, "Start Program"); // Main Programwhile(1)
PORTB.F3=1; // Blinking LEDDelay_ms(500);PORTB.F3=0;Delay_ms(500);
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//================== Interrupt service routine INT =================//void interrupt() unsigned char i; // Keep counter if(INTCON.INTF) // Check interrupt flag RB0 (Falling edge) Delay_us(416); // Delay 1/2 bit timing(baudrate 1200 bps) for(i=0;i<8;i++) // Loop 8 time for keep data from ER-4 Remote Delay_us(833); // Delay of 1 bit timing(baudrate 1200 bps) ir_cmd = ir_cmd>>1; // Shift bit 1 time if((PORTB & 0x01)==1) // Get logic @ RB0 = '1'? ir_cmd=ir_cmd|0x80; // Inset bit data is '1' Delay_us(833); // Delay of 1 bit timing(baudrate 1200 bps) INTCON.INTF =0; // Clear interrupt flag
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char *text1 = "ER-4 Remote"; // Define messageunsigned char ir_cmd=0; // Keep Command button from ER-4 Remote
//================== Interrupt service routine INT =================//void interrupt()
unsigned char i; // Keep counterif(INTCON.INTF) // Check interrupt flag RB0 (Falling edge)
Delay_us(416); // Delay 1/2 bit timing(baudrate 1200 bps)for(i=0;i<8;i++) // Loop 8 time for keep data from ER-4 Remote
Delay_us(833); // Delay of 1 bit timing(baudrate 1200 bps)ir_cmd = ir_cmd>>1; // Shift bit 1 timeif((PORTB & 0x01)==1) // Get logic @ RB0 = '1'?
ir_cmd=ir_cmd|0x80; // Inset bit data is '1'
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Delay_us(833); // Delay of 1 bit timing(baudrate 1200 bps)INTCON.INTF =0; // Clear interrupt flag
//================== Function for get character from Remote ========//unsigned char get_remote()
unsigned char _key=ir_cmd; // Get character to bufferir_cmd=0; // Clear old datareturn(_key); // Return character from Remote
//================== Main Program ==================================//void main()
unsigned char key; // Save Remote Key PressANSELH.F4=0; // RB0 ==> Digital IOOPTION_REG.INTEDG = 0; // INT falling edgeINTCON.INTE =1; // Enable INT/PB0INTCON.GIE =1; // Enable Global interrupt
Lcd_Init(&PORTD); // Initialize LCD connected to PORTDLcd_Cmd(Lcd_CLEAR); // Clear displayLcd_Cmd(Lcd_CURSOR_OFF); // Turn cursor offLcd_Out(1, 1, text1); // Print text to LCD, 1st row, 1st columnSound_Init(&PORTC,0);while(1) // Infinite loop
key = get_remote(); // Get Remoteif(key=='a' || key=='A') // Button A press?
Lcd_Out(2, 1, "Button A Press "); // Display messageSound_Play(200,500);
else if(key=='b' || key=='B') // Button B press?
Lcd_Out(2, 1, "Button B Press "); // Display messageSound_Play(210,500);
else if(key=='c' || key=='C') // Button C press?
Lcd_Out(2, 1, "Button C Press "); // Display messageSound_Play(220,500);
else if(key=='d' || key=='D') // Button D press?
Lcd_Out(2, 1, "Button D Press "); // Display messageSound_Play(230,500);
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#include <motor.h>char *text = "ER-4 Remote"; // Define messageunsigned char ir_cmd=0; // Keep Command button from ER-4 Remote
//================== Interrupt service routine INT =================//void interrupt()
unsigned char i; // Keep counterif(INTCON.INTF) // Check interrupt flag RB0 (Falling edge)
Delay_us(416); // Delay 1/2 bit timing(baudrate 1200 bps) for(i=0;i<8;i++) // Loop 8 time for keep data from ER-4 Remote
Delay_us(833); // Delay of 1 bit timing(baudrate 1200 bps)ir_cmd = ir_cmd>>1; // Shitt bit 1 timeif((PORTB & 0x01)==1) // Get logic @ RB0 = '1'?
ir_cmd = ir_cmd|0x80; // Inset bit data is '1'
Delay_us(833); // Delay of 1 bit timing(baudrate 1200 bps)INTCON.INTF =0; // Clear interrupt flag
//================== Function for get character from Remote ========//unsigned char get_remote()
unsigned char _key=ir_cmd; // Get character to bufferir_cmd=0; // Clear old datareturn(_key); // Return character from Remote
//================== Main Program ==================================//void main()
ANSELH.F4=0; // RB0 ==> Digital IOOPTION_REG.INTEDG = 0; // INT falling edgeINTCON.INTE =1; // Enable INT/PB0INTCON.GIE =1; // Enable Global interrupt
Lcd_Init(&PORTD); // Initialize LCD connected to PORTDLcd_Cmd(Lcd_CLEAR); // Clear displayLcd_Cmd(Lcd_CURSOR_OFF); // Turn cursor offLcd_Out(1, 1, text); // Print text to LCD, 2nd row, 1st columnSound_Init(&PORTC,0);Sound_Play(250,400);while(1) // Infinite loop
char key=get_remote(); // Get Remoteif((key=='a')||(key=='A')) // Button A press? Backward(255);Delay_ms(50); else if((key=='b')||(key=='B')) // Button B press? S_Right(255);Delay_ms(50); else if((key=='c')||(key=='C')) // Button C press?
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S_Left(255);Delay_ms(50); else if((key=='d')||(key=='D')) // Button D press? Forward(255);Delay_ms(50);else Motor_Stop();
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