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April 23, 2020 11:43
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MPLAB Xpress obstacle avoiding robot
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/** | |
Generated Main Source File | |
Company: | |
Microchip Technology Inc. | |
File Name: | |
main.c | |
Summary: | |
This is the main file generated using MPLAB(c) Code Configurator | |
Description: | |
This header file provides implementations for driver APIs for all modules selected in the GUI. | |
Generation Information : | |
Product Revision : MPLAB(c) Code Configurator - 3.15.0 | |
Device : PIC16F18855 | |
Driver Version : 2.00 | |
The generated drivers are tested against the following: | |
Compiler : XC8 1.35 | |
MPLAB : MPLAB X 3.20 | |
*/ | |
/* | |
(c) 2016 Microchip Technology Inc. and its subsidiaries. You may use this | |
software and any derivatives exclusively with Microchip products. | |
THIS SOFTWARE IS SUPPLIED BY MICROCHIP "AS IS". NO WARRANTIES, WHETHER | |
EXPRESS, IMPLIED OR STATUTORY, APPLY TO THIS SOFTWARE, INCLUDING ANY IMPLIED | |
WARRANTIES OF NON-INFRINGEMENT, MERCHANTABILITY, AND FITNESS FOR A | |
PARTICULAR PURPOSE, OR ITS INTERACTION WITH MICROCHIP PRODUCTS, COMBINATION | |
WITH ANY OTHER PRODUCTS, OR USE IN ANY APPLICATION. | |
IN NO EVENT WILL MICROCHIP BE LIABLE FOR ANY INDIRECT, SPECIAL, PUNITIVE, | |
INCIDENTAL OR CONSEQUENTIAL LOSS, DAMAGE, COST OR EXPENSE OF ANY KIND | |
WHATSOEVER RELATED TO THE SOFTWARE, HOWEVER CAUSED, EVEN IF MICROCHIP HAS | |
BEEN ADVISED OF THE POSSIBILITY OR THE DAMAGES ARE FORESEEABLE. TO THE | |
FULLEST EXTENT ALLOWED BY LAW, MICROCHIP'S TOTAL LIABILITY ON ALL CLAIMS IN | |
ANY WAY RELATED TO THIS SOFTWARE WILL NOT EXCEED THE AMOUNT OF FEES, IF ANY, | |
THAT YOU HAVE PAID DIRECTLY TO MICROCHIP FOR THIS SOFTWARE. | |
MICROCHIP PROVIDES THIS SOFTWARE CONDITIONALLY UPON YOUR ACCEPTANCE OF THESE | |
TERMS. | |
*/ | |
#include "mcc_generated_files/mcc.h" | |
/* | |
Main application | |
*/ | |
uint16_t distance; | |
uint16_t too_close = 350; | |
void main(void) | |
{ | |
// initialize the device | |
SYSTEM_Initialize(); | |
// When using interrupts, you need to set the Global and Peripheral Interrupt Enable bits | |
// Use the following macros to: | |
// Enable the Global Interrupts | |
//INTERRUPT_GlobalInterruptEnable(); | |
// Enable the Peripheral Interrupts | |
//INTERRUPT_PeripheralInterruptEnable(); | |
// Disable the Global Interrupts | |
//INTERRUPT_GlobalInterruptDisable(); | |
// Disable the Peripheral Interrupts | |
//INTERRUPT_PeripheralInterruptDisable(); | |
// Set direction to forward | |
PIN_MANAGER_Initialize (); | |
IO_RC5_SetHigh(); | |
IO_RC7_SetHigh(); | |
// Initialize ADC, conversion by request | |
ADCC_Initialize(); | |
ADCC_DisableContinuousConversion(); | |
// Initialize PWMs and set them to 0 | |
PWM6_Initialize(); | |
PWM6_LoadDutyValue(0x00); | |
PWM6_Initialize(); | |
PWM6_LoadDutyValue(0x00); | |
// Start forward | |
// PWM is 9 bits resolution | |
PWM6_LoadDutyValue(0x01FF); | |
PWM7_LoadDutyValue(0x01FF); | |
while (1) | |
{ | |
// Add your application code | |
// Read ADC value, RB0 is channel ANB0 | |
distance = ADCC_GetSingleConversion(channel_ANB0); | |
if ( distance > too_close ){ | |
// stop | |
PWM6_LoadDutyValue(0x00); | |
PWM7_LoadDutyValue(0x00); | |
// wait a bit | |
__delay_ms(500); | |
// turn back | |
IO_RC5_SetLow(); | |
IO_RC7_SetLow(); | |
PWM6_LoadDutyValue(0x01FF); | |
PWM7_LoadDutyValue(0x01FF); | |
// run backwards fro some time | |
__delay_ms(5000); | |
// stop | |
PWM6_LoadDutyValue(0x00); | |
PWM7_LoadDutyValue(0x00); | |
// wait a bit | |
__delay_ms(500); | |
// Turn slowly | |
IO_RC5_SetHigh(); | |
IO_RC7_SetLow(); | |
PWM6_LoadDutyValue(0x00FF); | |
PWM7_LoadDutyValue(0x00FF); | |
// The delay controls how much we turn | |
__delay_ms(2000); | |
// stop | |
PWM6_LoadDutyValue(0x00); | |
PWM7_LoadDutyValue(0x00); | |
// wait a bit | |
__delay_ms(500); | |
// resume going forward | |
IO_RC5_SetHigh(); | |
IO_RC7_SetHigh(); | |
PWM6_LoadDutyValue(0x01FF); | |
PWM7_LoadDutyValue(0x01FF); | |
} | |
} | |
} | |
/** | |
End of File | |
*/ |
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