pic_motor.c

在室內環境中可結合式子母機器人系統

//#include "E:\homework\OMAP\PIC18F6520皑笷\test.h"
#include <18F6520.h>
#device adc=8
#use delay(clock=20000000)
#fuses NOWDT,WDT128,HS, BROWNOUT, BORV25, STVREN, LVP
#use rs232(baud=115200,parity=N,xmit=PIN_C6,rcv=PIN_C7,bits=8)

#include <string.h>

char  command[10];
byte  count;


void main()
{

   setup_adc_ports(NO_ANALOGS);
   setup_psp(PSP_DISABLED);
   setup_spi(FALSE);
   setup_wdt(WDT_OFF);
   setup_timer_0(RTCC_INTERNAL);
   setup_timer_1(T1_INTERNAL|T1_DIV_BY_2);
   setup_timer_2(T2_DIV_BY_1,100,1);
   setup_timer_3(T3_DISABLED|T3_DIV_BY_1);
   setup_timer_4(T4_DISABLED,0,1);

   enable_interrupts(INT_RDA);
   enable_interrupts(global);

   setup_ccp1(CCP_PWM);
   setup_ccp2(CCP_PWM);
   setup_ccp3(CCP_PWM);
   setup_ccp4(CCP_PWM);
   set_pwm1_duty(0);
   set_pwm2_duty(0);
   set_pwm3_duty(0);
   set_pwm4_duty(0);

   output_bit(PIN_B0,0);
   output_bit(PIN_B1,0);
   output_bit(PIN_B2,0);
   output_bit(PIN_B3,0);
   while(1);
}
////////////////////////////////////////////////////////////////////////////////////
#int_RDA
RDA_isr()
{
      gets(command);
//      printf("\n\r ACK\n\r");

      if(strlen(command)==3)
      {
         count=(int)command[2]-48;
      }
      else if(strlen(command)==4)
      {
         count=((int)command[2]-48)*10+(int)command[3]-48;
      }
      else if(strlen(command)==5)
      {
         count=((int)command[2]-48)*100+((int)command[3]-48)*10+(int)command[4]-48;
      }

      switch(command[0])
      {
         case'a':
               if(command[1]=='+')
                  output_bit(PIN_B0,0);
               else if(command[1]=='-')
                  output_bit(PIN_B0,1);
               set_pwm1_duty(count);
               break;
         case'b':
               if(command[1]=='+')
                  output_bit(PIN_B1,0);
               else if(command[1]=='-')
                  output_bit(PIN_B1,1);
               set_pwm2_duty(count);
               break;
         case'c':
               if(command[1]=='+')
                  output_bit(PIN_B2,0);
               else if(command[1]=='-')
                  output_bit(PIN_B2,1);
               set_pwm3_duty(count);
               break;
         case'd':
               if(command[1]=='+')
                  output_bit(PIN_B3,0);
               else if(command[1]=='-')
                  output_bit(PIN_B3,1);
               set_pwm4_duty(count);
               break;
         default:       break;
      }
//      printf("\n\r ACK1\n\r %U",count);
}