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  • Servo, Wheels Program

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    Roseanne Camille Santiago
    7 views6 pages

    Original Title

    servo,wheels program

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    © Attribution Non-Commercial (BY-NC)

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    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as TXT, PDF, TXT or read online from Scribd
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    7 views6 pages

    Servo, Wheels Program

    Uploaded by

    Roseanne Camille Santiago

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 6

    #include <eZ8.

    h>
    #include <stdio.h>
    #include <sio.h>
    #define timer0_PRES 0x00
    #define timer0_RELD 0x01CC
    #define timer0_MODE 0x01
    unsigned
    unsigned
    m2_pos =
    m3_pos =
    m4_pos =
    m5_pos =

    int t0;
    int m1_pos = 60,
    60,
    60,
    60,
    60;

    unsigned char rx;


    void delay_ms(unsigned int delay)
    {
    unsigned int x, y;
    for(x=0;x<=delay;x++)
    for(y=0;y<=512;y++);
    }
    #pragma interrupt
    void isr_UART1_RX(void)
    {
    if((U1STAT0&0x40)||
    (U1STAT0&0x20)||
    (U1STAT0&0x10))
    {
    rx=U1RXD;
    rx='\0';
    }
    else
    {
    rx=U1RXD;
    }
    }
    void init_UART1(void)
    {
    init_uart(_UART1,_DEFFREQ,BAUD_9600);
    select_port(_UART1);
    DI();
    SET_VECTOR(UART1_RX,isr_UART1_RX);
    IRQ2ENH |= 0x40;
    IRQ2ENL |= 0x40;
    IRQ2 &= ~0x40;
    EI();
    }
    #pragma interrupt

    void isr_TIMER0(void)
    {
    t0++;
    if(t0>m1_pos)
    PAOUT&=~0x01;
    if(t0>m2_pos)
    PAOUT&=~0x02;
    if(t0>m3_pos)
    PAOUT&=~0x04;
    if(t0>m4_pos)
    PAOUT&=~0x08;
    if(t0>m5_pos)
    PAOUT&=~0x10;
    if(t0>1000)
    {
    t0=0;
    PAOUT |= 0xFF;
    }
    }
    void init_TIMER0(void)
    {
    T0CTL1 = (timer0_PRES << 3)|timer0_MODE;
    T0H = 0x00; T0L = 0x01;
    T0RH = (timer0_RELD >> 8);
    T0RL = (timer0_RELD & ~0xFF00);
    DI();
    SET_VECTOR(TIMER0,isr_TIMER0);
    IRQ0ENH |= 0x20;
    ity medium
    IRQ0ENL &= ~0x20;
    IRQ0 &= ~0x20;
    interrupt
    T0CTL1 |= 0x80;
    EI();
    }
    void init_port(void)
    {
    PADD=0x00;
    PAAF=0x00;
    PAOC=0x00;
    PAHDE=0xFF;
    PBDD=0x00;
    PBAF=0x00;
    PBOC=0x00;
    PBHDE=0xFF;
    }

    // default

    // IRQ0 = 0010 0000;


    // prior
    // clear

    void move(int mot,int pos)


    {
    switch(mot)
    {
    case 1:
    m1_pos=pos;
    break;
    case 2:
    m2_pos=pos;
    break;
    case 3:
    m3_pos=pos;
    break;
    case 4:
    m4_pos=pos;
    break;
    case 5:
    m5_pos=pos;
    break;
    }
    }
    void main(void)
    {
    init_port();
    init_TIMER0();
    init_UART1();
    while(1)
    {
    if(rx=='g')
    {
    move(1,18);
    T0CTL1 |= 0x80;
    delay_ms(300);
    T0CTL1&=~0x80;
    rx='\0';
    }
    else if(rx=='h')
    {
    move(1,36);
    T0CTL1 |= 0x80;
    delay_ms(300);
    T0CTL1&=~0x80;
    rx='\0';
    }
    else if(rx=='j')
    {
    move(1,52);
    T0CTL1 |= 0x80;
    delay_ms(300);
    T0CTL1&=~0x80;
    rx='\0';
    }
    else if(rx=='k')
    {
    move(1,72);
    T0CTL1 |= 0x80;
    delay_ms(300);

    T0CTL1&=~0x80;
    rx='\0';
    }
    else if(rx=='l')
    {
    move(1,90);
    T0CTL1 |= 0x80;
    delay_ms(300);
    T0CTL1&=~0x80;
    rx='\0';
    }

    else if(rx=='y')
    {
    move(2,18);
    T0CTL1 |= 0x80;
    delay_ms(300);
    T0CTL1&=~0x80;
    rx='\0';
    }
    else if(rx=='u')
    {
    move(2,36);
    T0CTL1 |= 0x80;
    delay_ms(300);
    T0CTL1&=~0x80;
    rx='\0';
    }
    else if(rx=='i')
    {
    move(2,52);
    T0CTL1 |= 0x80;
    delay_ms(300);
    T0CTL1&=~0x80;
    rx='\0';
    }
    else if(rx=='o')
    {
    move(2,72);
    T0CTL1 |= 0x80;
    delay_ms(300);
    T0CTL1&=~0x80;
    rx='\0';
    }
    else if(rx=='p')
    {
    move(2,90);
    T0CTL1 |= 0x80;
    delay_ms(300);
    T0CTL1&=~0x80;
    rx='\0';
    }

    else if(rx=='y')
    {
    move(3,18);
    T0CTL1 |= 0x80;
    delay_ms(300);
    T0CTL1&=~0x80;
    rx='\0';
    }
    else if(rx=='u')
    {
    move(3,36);
    T0CTL1 |= 0x80;
    delay_ms(300);
    T0CTL1&=~0x80;
    rx='\0';
    }
    else if(rx=='i')
    {
    move(3,52);
    T0CTL1 |= 0x80;
    delay_ms(300);
    T0CTL1&=~0x80;
    rx='\0';
    }
    else if(rx=='o')
    {
    move(3,72);
    T0CTL1 |= 0x80;
    delay_ms(300);
    T0CTL1&=~0x80;
    rx='\0';
    }
    else if(rx=='p')
    {
    move(3,90);
    T0CTL1 |= 0x80;
    delay_ms(300);
    T0CTL1&=~0x80;
    rx='\0';
    }
    //******************WHEELS****************************
    else if(rx=='w')
    //forward
    {
    PBOUT=~0x05;
    //printf("Forward %c for w\n",DATA);
    }
    else if(rx=='s')
    // backward
    {
    PBOUT=~0x0A;
    //printf("Backward %c for s\n",DATA);
    }

    else if(rx=='d')
    //right
    {
    PBOUT=~0x01;
    //printf("Right %c for d\n",DATA);
    }
    else if(rx=='a')
    // left
    {
    PBOUT=~0x04;
    //printf("Left %c for a\n",DATA);
    }
    else if(rx=='x')
    // left
    {
    PBOUT=~0x00;
    //printf("Stop %c for x\n",DATA);
    }
    //******************WHEELS****************************

    while(rx=='\0');
    }
    }

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