sai.vn
24-12-2013, 05:35 PM
tình hình là mình vừa viết xong co de cho robot dò đường. khi test tường khối dò đường và khối hiển thị riêng lẻ thì ok nhưng test 2 khối cùng lúc thì nó báo lỗi. cao thủ vào giúp cái.
code và mô phỏng của mình đây
#include <16F877A.h>
#fuses NOWDT,HS,NOPUT,NOPROTECT,NODEBUG,NOBROWNOUT,NOLVP
#use delay(clock=20000000)
/* ÐINH NGHIA CÁC CHÂN VÀ PORT*/
#include <def_877a.h>
#include <lcd_4bit.c>
#define dir_left RB3
#define dir_right RB2
#define SENSOR PORTD
long int16 pulse_encoder_right=0,pulse_encoder_left=0;
long int16 vantoc_left=0,vantoc_right=0;
int1 enable_display=0; // Co hien thi LCD
#INT_TIMER1 ///chuong trinh ngat timer 1
void Motor_Speed()
{
disable_interrupts(INT_EXT);
setup_timer_1(T1_DISABLED);
vantoc_right=(pulse_encoder_right);//*1000)/(334*3);
pulse_encoder_left=get_timer0(); // Lay gia tri trong cac thanh ghi cua counter
vantoc_left=(pulse_encoder_left);//*1000)/(334*3);
pulse_encoder_right=0;
set_timer0(0);
set_timer1(0xF15A);
setup_timer_1(T1_INTERNAL|T1_DIV_BY_4);
enable_interrupts(INT_EXT);
enable_display=1;
}
#INT_EXT //chuong trinh ngat ngoai
void Count_Pulse()
{
pulse_encoder_right++;
}
/* CHUONG TRÌNH CHÍNH */
int left=0;
int right=0;
void speed(int speed_left,int speed_right)//Dieu khien dong co
{
if(speed_left >= 0) {dir_left=0;left=2.51*speed_left;}
else {dir_left=1;left=2.51*( -speed_left);}
if(speed_right>=0) {dir_right=0;right=2.51*speed_right;}
else {dir_right=1;right=2.51*( -speed_right);};
set_pwm1_duty(left);
set_pwm2_duty(right);
}
void main ()
{
TRISC=0; // PORTC là ngõ ra ( dOg co)
TRISD=255;// PORTD là ngõ vào cam bien
TRISE=0;
TRISB=0x01;
TRISA=255;
enable_interrupts(GLOBAL); // Cho phep ngat toan cuc
ext_int_edge(H_TO_L); // Cau hinh ngat ngoai theo canh xuong
enable_interrupts(INT_EXT); // Cho phep ngat ngoai
enable_interrupts(INT_TIMER1); // Cho phep ngat tran TIMER1
setup_timer_0(RTCC_EXT_H_TO_L|RTCC_DIV_1|RTCC_8_BI T);//Tang gia tri timer0 len 1 khi co 1 xung xuong tai chan PIN_A4 (T0CKI)
set_timer0(0); // Gan gia tri ban dau cho counter
// Thiet lap TIMER1: Dinh thi 3ms
setup_timer_1(T1_INTERNAL|T1_DIV_BY_4); // Cau hinh bo chia cho TIMER1
set_timer1(0xF15A); // Cau hinh gia tri cho thanh ghi TMR1 - Dinh thi 3ms
////////////////////////////
setup_timer_2(T2_DIV_BY_16,250,1);
setup_ccp1(CCP_PWM);
set_pwm1_duty(0); // DK dog co trai
setup_ccp2(CCP_PWM);
set_pwm2_duty(0);//DK dong co phai
RB5=1; //Cho dong co chay
RB4=1;
///////////// LCD
lcd_init();
hangcot(1,1);
hienthi("DO AN TOT NGHIEP");
delay_ms(300);
hangcot(2,1);
hienthi("NGUYEN MINH TIEN");
delay_ms(300);
xoamanhinh();
hienthi("ROBOT DO DUONG");
hangcot(2,1);
hienthi("SU DUNG PIC16F877A");
delay_ms(300);
xoamanhinh();
while(1)
{
switch (SENSOR)
{
case 0b11100111: speed(40,40); break;
case 0b11110011: speed(40,30); break;
case 0b11111001: speed(50,25); break;
case 0b11111100: speed(60,20); break;
case 0b11111110: speed(65,15); break;
case 0b11001111: speed(30,40); break;
case 0b10011111: speed(25,50); break;
case 0b00111111: speed(20,60); break;
case 0b01111111: speed(15,65); break;
/*case 0b00011111: speed(0,70) ; break;
case 0b00001111: speed(0,70) ; break;
case 0b00000111: speed(0,70) ; break;
case 0b00000011: speed(0,70) ; break;
case 0b00000001: speed(0,70) ; break;
case 0b11110000: speed(70,0) ; break;
case 0b11100000: speed(70,0) ; break;
case 0b11000000: speed(70,0) ; break;
case 0b10000000: speed(70,0) ; break; */
default : speed(60,90);break;
}
// xu ly toc do tra ve hien thi len LCD
if(enable_display==1)
{
hangcot(1,1);
printf(hienthi,"V=%2lu v/s",vantoc_right);
hangcot(2,1);
printf(hienthi,"V=%2lu v/s",vantoc_left);
enable_display=0;
}
}
}
code và mô phỏng của mình đây
#include <16F877A.h>
#fuses NOWDT,HS,NOPUT,NOPROTECT,NODEBUG,NOBROWNOUT,NOLVP
#use delay(clock=20000000)
/* ÐINH NGHIA CÁC CHÂN VÀ PORT*/
#include <def_877a.h>
#include <lcd_4bit.c>
#define dir_left RB3
#define dir_right RB2
#define SENSOR PORTD
long int16 pulse_encoder_right=0,pulse_encoder_left=0;
long int16 vantoc_left=0,vantoc_right=0;
int1 enable_display=0; // Co hien thi LCD
#INT_TIMER1 ///chuong trinh ngat timer 1
void Motor_Speed()
{
disable_interrupts(INT_EXT);
setup_timer_1(T1_DISABLED);
vantoc_right=(pulse_encoder_right);//*1000)/(334*3);
pulse_encoder_left=get_timer0(); // Lay gia tri trong cac thanh ghi cua counter
vantoc_left=(pulse_encoder_left);//*1000)/(334*3);
pulse_encoder_right=0;
set_timer0(0);
set_timer1(0xF15A);
setup_timer_1(T1_INTERNAL|T1_DIV_BY_4);
enable_interrupts(INT_EXT);
enable_display=1;
}
#INT_EXT //chuong trinh ngat ngoai
void Count_Pulse()
{
pulse_encoder_right++;
}
/* CHUONG TRÌNH CHÍNH */
int left=0;
int right=0;
void speed(int speed_left,int speed_right)//Dieu khien dong co
{
if(speed_left >= 0) {dir_left=0;left=2.51*speed_left;}
else {dir_left=1;left=2.51*( -speed_left);}
if(speed_right>=0) {dir_right=0;right=2.51*speed_right;}
else {dir_right=1;right=2.51*( -speed_right);};
set_pwm1_duty(left);
set_pwm2_duty(right);
}
void main ()
{
TRISC=0; // PORTC là ngõ ra ( dOg co)
TRISD=255;// PORTD là ngõ vào cam bien
TRISE=0;
TRISB=0x01;
TRISA=255;
enable_interrupts(GLOBAL); // Cho phep ngat toan cuc
ext_int_edge(H_TO_L); // Cau hinh ngat ngoai theo canh xuong
enable_interrupts(INT_EXT); // Cho phep ngat ngoai
enable_interrupts(INT_TIMER1); // Cho phep ngat tran TIMER1
setup_timer_0(RTCC_EXT_H_TO_L|RTCC_DIV_1|RTCC_8_BI T);//Tang gia tri timer0 len 1 khi co 1 xung xuong tai chan PIN_A4 (T0CKI)
set_timer0(0); // Gan gia tri ban dau cho counter
// Thiet lap TIMER1: Dinh thi 3ms
setup_timer_1(T1_INTERNAL|T1_DIV_BY_4); // Cau hinh bo chia cho TIMER1
set_timer1(0xF15A); // Cau hinh gia tri cho thanh ghi TMR1 - Dinh thi 3ms
////////////////////////////
setup_timer_2(T2_DIV_BY_16,250,1);
setup_ccp1(CCP_PWM);
set_pwm1_duty(0); // DK dog co trai
setup_ccp2(CCP_PWM);
set_pwm2_duty(0);//DK dong co phai
RB5=1; //Cho dong co chay
RB4=1;
///////////// LCD
lcd_init();
hangcot(1,1);
hienthi("DO AN TOT NGHIEP");
delay_ms(300);
hangcot(2,1);
hienthi("NGUYEN MINH TIEN");
delay_ms(300);
xoamanhinh();
hienthi("ROBOT DO DUONG");
hangcot(2,1);
hienthi("SU DUNG PIC16F877A");
delay_ms(300);
xoamanhinh();
while(1)
{
switch (SENSOR)
{
case 0b11100111: speed(40,40); break;
case 0b11110011: speed(40,30); break;
case 0b11111001: speed(50,25); break;
case 0b11111100: speed(60,20); break;
case 0b11111110: speed(65,15); break;
case 0b11001111: speed(30,40); break;
case 0b10011111: speed(25,50); break;
case 0b00111111: speed(20,60); break;
case 0b01111111: speed(15,65); break;
/*case 0b00011111: speed(0,70) ; break;
case 0b00001111: speed(0,70) ; break;
case 0b00000111: speed(0,70) ; break;
case 0b00000011: speed(0,70) ; break;
case 0b00000001: speed(0,70) ; break;
case 0b11110000: speed(70,0) ; break;
case 0b11100000: speed(70,0) ; break;
case 0b11000000: speed(70,0) ; break;
case 0b10000000: speed(70,0) ; break; */
default : speed(60,90);break;
}
// xu ly toc do tra ve hien thi len LCD
if(enable_display==1)
{
hangcot(1,1);
printf(hienthi,"V=%2lu v/s",vantoc_right);
hangcot(2,1);
printf(hienthi,"V=%2lu v/s",vantoc_left);
enable_display=0;
}
}
}