a quen.e up lai doan code cho phu hop voi cai mach
#include <16f877.h>
#fuses XT,NOWDT,NOPROTECT,NOPUT,NOBROWNOUT,NODEBUG
#DEVICE *=16,ADC=8
#USE DELAY(CLOCK=4000000)
#USE FAST_IO(B)
#use fast_io(c)
INT8 TIEN,LUI,AD0,AD1,AD2,AD3,QUAYTRAI,them,
QUAYPHAI,RETRAI1,RETRAI2,REPHAI1,REPHAI2,LUIREPHAI 1,LUIREPHAI2,LUIRETRAI1,LUIRETRAI2;
INT8 TANG;
VOID MAIN()
{ TANG=0;
them=255;
SET_TRIS_B(11111111); //THIET LAP CAC CHAN RB0,1,2 LA CAC NGO VAO
set_tris_c(00101001); //thiet lap cac chan rc0,3,5 la cac ngo vao
OUTPUT_HIGH(PIN_C1); //TAT 2 DONG CO
OUTPUT_HIGH(PIN_C2);
SETUP_ADC(ADC_CLOCK_INTERNAL); //THIET LAP CHE DO ADC VOI THOI GIAN LAY MAU BANG XUNG IC
SETUP_ADC_PORTS(AN0_AN1_AN3); //THET LAP 3 NGO VAO ADC
SETUP_CCP1(CCP_PWM); //THIEP LAP CHE DO PWM
SETUP_CCP2(CCP_PWM); //THIEP LAP CHE DO PWM
sETUP_TIMER_2(T2_DIV_BY_4,255,1);//THIET LAP TIMER2 DUNG CHO PWM
output_high(pin_c6);
WHILE (1)
{
IF (!INPUT(PIN_B1)) //CO HAI NUT NHAN TANG GIAM MODE TOC DO ,5 DEN CHO 5 MODE
{ //NEU NUT TANG DUOC NHAN
DELAY_MS(250);
IF (TANG<5)
{ TANG++;
SWITCH(TANG)
{ CASE 1 : {OUTPUT_HIGH(PIN_D6);them=180; //CAC DEN CHON MODE SANG
}
BREAK;
CASE 2 : {OUTPUT_HIGH(PIN_A5);them=150;
}
BREAK;
CASE 3 : {OUTPUT_HIGH(PIN_E0);them=100;
}
BREAK;
CASE 4 : {OUTPUT_HIGH(PIN_E1);them=50; }
BREAK;
CASE 5 : {OUTPUT_HIGH(PIN_E2);them=0;
}
BREAK;
}
}
}
IF (!INPUT(PIN_B0)) //NEU NUT GIAM DUOC NHAN
{ DELAY_MS(250);
IF (TANG>0)
{ SWITCH(TANG)
{ CASE 1 : {OUTPUT_LOW(PIN_D6);them=255; //CAC DEN MODE TAT
}
BREAK;
CASE 2 : {OUTPUT_LOW(PIN_A5);them=180;
}
BREAK;
CASE 3 : {OUTPUT_LOW(PIN_E0);them=150;
}
BREAK;
CASE 4 : {OUTPUT_LOW(PIN_E1);them=100;
}
BREAK;
CASE 5 : {OUTPUT_LOW(PIN_E2);them=50;
}
BREAK;
}
TANG--;
}
}
//CO 1 CAI JOYSITCK DIEU KHIEN XE,VOI 2 BIEN TRO,CO 2 DONG CO CHO HAI BANH
SET_ADC_CHANNEL(0); //CHON KENH AN1 DE DOC GIA TRI ADC TU BIEN TRO 1 CUA JOYSTICK
DELAY_US(10);
AD0=READ_ADC(); //DOC GIA TRI ADC
SET_ADC_CHANNEL(1); //CHON KENH AN0 DE DOC GIA TRI ADC
DELAY_US(10);
AD1=READ_ADC();
IF ((AD0>=0)&&(AD0<=100)&&(AD1>100)&&(AD1<=145) ) // CHAY lui
{ TIEN=(ABS(AD0-127)); //GIA TRI ADC KHI KEO JOYSTICK DE XE CHAY TOI
OUTPUT_low(pin_D3); //TAT CHAN ROLE DOI CHIEU DONG CO
OUTPUT_low(PIN_D7);
if ((them<=100)&&(tien<90))
{ SET_PWM2_DUTY(180);
SET_PWM1_DUTY(180);
}
if ((them<=100)&&(tien>=90))
{SET_PWM2_DUTY(them);
SET_PWM1_DUTY(them);
}
if (them>100)
{SET_PWM2_DUTY(them);
SET_PWM1_DUTY(them);
}
DELAY_MS(50);
}
IF ((AD0>100)&&(AD0<=145)&&(AD1>100)&&(AD1<=145)) //DUNG LAI
{ SET_PWM2_DUTY(255);
SET_PWM1_DUTY(255);
OUTPUT_HIGH(PIN_D3); //TAT CHAN ROLE CHIEU DONG CO
OUTPUT_HIGH(PIN_D7);
}
IF ((AD0>145)&&(AD1>100)&&(AD1<=145)) //CHAY toi
{
LUI=ABS(127-AD0);
OUTPUT_high(PIN_D3); //SET CHAN ROLE CHIEU DONG CO
OUTPUT_high(PIN_D7);
if ((them<=100)&&(lui<90))
{ SET_PWM2_DUTY(180);
SET_PWM1_DUTY(180);
}
if ((them<=100)&&(lui>=90))
{SET_PWM2_DUTY(them);
SET_PWM1_DUTY(them);
}
if (them>100)
{SET_PWM2_DUTY(them);
SET_PWM1_DUTY(them);
}
DELAY_MS(200);
SET_ADC_CHANNEL(1); //CHON KENH AN1 DE DOC GIA TRI ADC
DELAY_US(10);
AD2=READ_ADC(); //DOC GIA TRI ADC
SET_ADC_CHANNEL(0); //CHON KENH AN0 DE DOC GIA TRI ADC
DELAY_US(10);
AD3=READ_ADC();
IF ((AD0>AD2)&&((AD2-127)<30)&&(ABS(AD3-AD1)<50)&&INPUT(PIN_B1)&&INPUT(PIN_B0)) //CHONG BI GIAT KHI CHAY LUI SAU DO DUNG LAI
{ SET_PWM2_DUTY(255);
SET_PWM1_DUTY(255);
DELAY_MS(2000);
OUTPUT_HIGH(PIN_D3); //TAT CHAN ROLE CHIEU DONG CO
OUTPUT_HIGH(PIN_D7);
}
}
IF ((AD0>100)&&(AD0<=145)&&(AD1>0)&&(AD1<=100)&&INPUT (PIN_B1)&&INPUT(PIN_B0)) //QUAY PHAI
{ QUAYPHAI=(ABS(AD1-127));
OUTPUT_LOW(PIN_D3); //SET CHAN ROLE CHIEU DONG CO
OUTPUT_HIGH(PIN_D7);
if ((them<=100)&&(tien<90))
{ SET_PWM2_DUTY(200);
SET_PWM1_DUTY(200);
}
if ((them<=100)&&(tien>=90))
{SET_PWM2_DUTY(them);
SET_PWM1_DUTY(them);
}
if (them>100)
{SET_PWM2_DUTY(them);
SET_PWM1_DUTY(them);
}
DELAY_MS(200);
SET_ADC_CHANNEL(1); //CHON KENH AN1 DE DOC GIA TRI ADC
DELAY_US(10);
AD2=READ_ADC(); //DOC GIA TRI ADC
SET_ADC_CHANNEL(0); //CHON KENH AN0 DE DOC GIA TRI ADC
DELAY_US(10);
AD3=READ_ADC();
IF ((AD3>AD1)&&(ABS(AD2-AD0)<50)&&INPUT(PIN_B1)&&INPUT(PIN_B0)) //CHONG BI GIAT KHI QUAY PHAI
{ SET_PWM2_DUTY(255);
SET_PWM1_DUTY(255);
DELAY_MS(1000);
OUTPUT_HIGH(PIN_D3); //TAT CHAN ROLE CHIEU DONG CO
OUTPUT_HIGH(PIN_D7);
}
}
IF ((AD0>100)&&(AD0<=145)&&(AD1>145)&&INPUT(PIN_B1)&& INPUT(PIN_B0)) //QUAY TRAI
{ QUAYTRAI=(ABS(127-AD1));
OUTPUT_HIGH(PIN_D3); //SET CHAN ROLE CHIEU DONG CO
OUTPUT_LOW(PIN_D7);
if ((them<=100)&&(quaytrai<90))
{ SET_PWM2_DUTY(200);
SET_PWM1_DUTY(200);
}
if ((them<=100)&&(quaytrai>=90))
{SET_PWM2_DUTY(them);
SET_PWM1_DUTY(them);
}
if (them>100)
{SET_PWM2_DUTY(them);
SET_PWM1_DUTY(them);
}
DELAY_MS(200);
SET_ADC_CHANNEL(1); //CHON KENH AN1 DE DOC GIA TRI ADC
DELAY_US(10);
AD2=READ_ADC(); //DOC GIA TRI ADC
SET_ADC_CHANNEL(0); //CHON KENH AN0 DE DOC GIA TRI ADC
DELAY_US(10);
AD3=READ_ADC();
IF ((AD3<AD1)&&(ABS(AD2-AD0)<50)&&INPUT(PIN_B1)&&INPUT(PIN_B0)) //CHONG BI GIAT KHI QUAY TRAI
{ SET_PWM2_DUTY(255);
SET_PWM1_DUTY(255);
DELAY_MS(1000);
OUTPUT_HIGH(PIN_D3); //TAT CHAN ROLE CHIEU DONG CO
OUTPUT_HIGH(PIN_D7);
}
}
IF ((100>AD0)&&(AD1<100)&&INPUT(PIN_B1)&&INPUT(PIN_B0 )) //CHAY lui RE PHAI
{ REPHAI1=(them+ABS(AD1-127));
REPHAI2=ABS(them-ABS(AD1-127));
SET_PWM2_DUTY(REPHAI1);
SET_PWM1_DUTY(REPHAI2);
}
IF ((AD0<100)&&(AD1>145)&&INPUT(PIN_B1)&&INPUT(PIN_B0 )) //CHAY lui RE TRAI
{ RETRAI1=them+AD1-127;
RETRAI2=ABS(them-(AD1-127));
SET_PWM2_DUTY(RETRAI1);
SET_PWM1_DUTY(RETRAI2);
}
IF ((AD0>145)&&(AD1<100)&&INPUT(PIN_B1)&&INPUT(PIN_B0 )) //CHAY toi RE PHAI
{ LUIREPHAI1=(them+ABS(AD1-127));
LUIREPHAI2=ABS(them-ABS(AD1-117));
SET_PWM2_DUTY(LUIREPHAI1);
SET_PWM1_DUTY(LUIREPHAI2);
}
IF ((AD0>145)&&(AD1>145)&&INPUT(PIN_B1)&&INPUT(PIN_B0 )) //CHAY LUI RE TRAI
{ LUIRETRAI2=(them+AD1-127);
LUIRETRAI1=ABS(them-(AD1-127));
SET_PWM2_DUTY(LUIRETRAI2);
SET_PWM1_DUTY(LUIRETRAI1);
}
}
}