control1_motor.bak

Embedded camera control program.

#device  PIC16F877 *=16 ADC=10
#include <16f877.h>
#include <math.h>
#include <string.h>
#include <stdlib.h>

#fuses XT,NOWDT,NOPROTECT,NOLVP,NOBROWNOUT,PUT
#use delay(clock=20000000) 	// 20 MhZ
#use rs232(baud=115200,parity=N,xmit=PIN_C6, rcv=PIN_C7)

#define Kp 0.8
//#define Ki 1.5

//A5:direction
//E1:enable
//C2:PWM
  int set_value=50;
  int16 xung;
  int16 duty=0;
  int16 err=0;
  float p=0;

#int_rtcc
void samplingtime()
  {
      xung = get_timer1();
     
      set_timer1(0);
      set_timer0(60);
 
  }

void main()
{
   setup_CCP1(CCP_PWM);
   enable_interrupts(GLOBAL);
   enable_interrupts(INT_TIMER0);
   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256);
   setup_timer_1 (T1_EXTERNAL);
   setup_timer_2 ( T2_DIV_BY_1, 255, 1);
   set_PWM1_duty(0);
   output_high(PIN_E1);
   output_high(PIN_A5);
   set_timer0(60);
   set_pwm1_duty(500);
   while(1)
   {
      printf("Xung=  %ld\r",xung);
      delay_ms(10);
   }
}