Sineklik temizleme robotu atmel at90ls8535 böcek robot
24.03.2021 tarihinde güncellenen 16.02.2010 tarihinde yayımlanan Sineklik temizleme robotu atmel at90ls8535 böcek robot ile 2724 yazısı var. Yazar gevv
Çok ilginç bir robot projesi pencelerelerdeki sineklikleri temizleme içintasarlanmış temizlikci robot sistemin beyni atmel at90ls8535 mikro denetleyicisi kaynak c yazılımı verilmiş.
Robot projesinin uygulayamasanızda devre bölümleri kaynak yazılım işinize yarayabilir özellikle motor sürücü bölümü h-bridge köprü bağlantılı mosfetli sürücü katı bulunuyor
mrfisc.c yazılımı
/*********************************************
Project : MrFisc
Version : 1.0
Date : 9/12/2003
Author : Andrew Oudyn
Comments:
Firmware for the Mr Fisc
Micro Robotic Fly & Insect Screen Cleaner
Chip type : AT90LS8535
Clock frequency : 4.000000 MHz
Memory model : Small
External SRAM size : 0
Data Stack size : 128
*********************************************/
// include files for this project
#include <90S8535.h> //contains register information for the processor
#include <stdio.h> // Standard Input/Output functions
#include <delay.h> //Delay functions
#include <math.h> //Maths library
#include <stdlib.h> //for ftoa
#include "mrfisc.h"
//Set and read individual bits Macro
#define setBit(port, bitP, value) if (value == 1) { port = port | (1<<(bitP)); } else { port = port & ~(1<<(bitP)); }
#define getBit(port,bitP) ((port & (1<<(bitP)))>>(bitP))
// Read the AD conversion result
unsigned int read_adc(unsigned char adc_input)
{
ADMUX=adc_input;
// Start the AD conversion
ADCSR|=0x40;
// Wait for the AD conversion to complete
while ((ADCSR & 0x10) == 0);
ADCSR|=0x10;
return ADCW;
}
void check_status(void);
void motor(unsigned char action);
void wait(void);
void initialise(void);
void correct(void);
// Global Variables
float angle = 0; //the angle of Mr. FISC
float vBat = 0; // Battery Status in Volts
signed int heading = 0; //the nearest integer value for the heading in degrees
unsigned char direction = HEAD_RIGHT; //always start at the top left so always go right
unsigned char whichway;
void main(void)
{
unsigned char start = 1; //To signify program initialisation
initialise();
DDRC = SetPortC; //0011 0000 set the port C to external input.
whichway = STOPPED;
wait();
while (1)
{
if(PINC.RIGHT_SENSOR == 1)
{
heading = 0;
start = 0;
}
else if(PINC.LEFT_SENSOR == 1)
{
heading = 0;
}
else if(PINC.FRONT_SENSOR == 1)
{
motor(STOP);
direction = HEAD_LEFT;
if(start == 0)
{
motor(STOP);
wait();
start = 1;
}
heading = TRAJECTORY; // heading in degrees
}
else if(PINC.BACK_SENSOR == 1)
{
motor(STOP);
direction = HEAD_RIGHT;
if(start == 0)
{
motor(STOP);
wait();
start = 1;
}
heading = -TRAJECTORY; // heading in degrees
}
correct();
}
}
/* check_status() is used to read all of the ADC values going into the micro.
These include the battery voltage, the X and Y tilt values from the
accelerometer. Port A is also used as a digital IO port and aswell
as taking the anologue tilt readings, a digital version can also be
obtained by pooling the two digital input pins, 4 and 5 and using a
timer counter. Port A also control the Serial IC and the Charge pump.
*/
void check_status()
{
float xTilt = 0; // Value of tilt in X direction
float yTilt = 0; // Value of tilt in Y direction
float xTiltDigi = 0;
int countT1 = 0; // time in counts for high pulse
int countT2 = 0; // time in counts for low pulse
char buffer[] = {0,0,0,0,0,0,0,0,0,0}; // buffer to hold number sent to computer
//accelerometer sensativity (60mV x Vcc)/g = (198mV / g)
// "zero g" will be at Vcc/2 = 1.65
// use full 10 bit ADC total range of 3.3V / 2^10 = 1024
// Voltage step = 3.22mV / bit
// Battery Status
//tiltValue = (float)(read_adc(V_BAT));
vBat = (float)(read_adc(V_BAT)*VOLTS_PER_BIT);
/* ******* ANALOGUE TILT READINGS ******* */
//tiltValue = read_adc(X_TILT); //read the X tilt value
xTilt = (float)read_adc(X_TILT)*VOLTS_PER_BIT;
//tiltValue = read_adc(Y_TILT); //read the Y tilt value
yTilt = (float)read_adc(Y_TILT)*VOLTS_PER_BIT;
/* ******* DIGITAL TILT READINGS ******* */
DDRA = SetPortA; // 1100 0000
// Y tilt readings
// The actual time taken is irrelevent, it's the duty cycle that is important
// so the delay to keep track of actual time is not required, so long as the
// loops are the same.
while(PINA.X_TILT_DIGI == 1){}
while(PINA.X_TILT_DIGI == 0){} //wait for clock to pulse
while(PINA.X_TILT_DIGI == 1){ countT1++; }
while(PINA.X_TILT_DIGI == 0){ countT2++; }
xTiltDigi = ((float)countT1/(countT2 + countT1) - ZERO_G_CYCLE)/CYCLE_2_G;
/* ******* CALCULATING AND SENDING ANGLE ******* */
setBit(PORTA, RS232_ON, 1); //turns on the serial IC
delay_ms(1);
angle = asin(xTiltDigi)*RADS_2_DEGS; //convert to degrees
ftoa(angle, 4, buffer);
printf("Mr. FISC's DIGITAL Y tilt readings show: %s \r \n", buffer);
printf("Heading: %d \r \n", heading);
if(whichway == FORWARD)
printf("Mr. FISC is going FORWARD \r \n");
else if(whichway == FORWARDLEFT)
printf("Mr. FISC is going FORWARD and LEFT \r \n");
else if(whichway == FORWARDRIGHT)
printf("Mr. FISC is going FORWARD and RIGHT \r \n");
else if(whichway == BACKWARDS)
printf("Mr. FISC is going BACKWARDS \r \n");
else if(whichway == BACKLEFT)
printf("Mr. FISC is going BACK and LEFT \r \n");
else if(whichway == BACKRIGHT)
printf("Mr. FISC is going BACK and RIGHT \r \n");
else if(whichway == STOPPED)
printf("Mr. FISC ain't goin' NOWHERE \r \n");
//ftoa(vBat, 3, buffer);
//printf("The battery Voltage is: %s \r \n", buffer);
delay_ms(10);
setBit(PORTA, RS232_ON, 0); //turns off the serial IC
}
void correct(void)
{
check_status();
if(direction == HEAD_RIGHT)
{
if(heading == 0)
{
if(angle >= STRAIGHTLINE)
{ motor(RIGHT_FWD); whichway = FORWARDRIGHT; }
else if(angle <= (0 - STRAIGHTLINE))
{ motor(LEFT_FWD); whichway = FORWARDLEFT;}
else
{ motor(FWD); whichway = FORWARD; }
}
else
{
if(angle >= (heading + STRAIGHTLINE))
{ motor(RIGHT_FWD); whichway = FORWARDRIGHT; }
else if(angle <= (heading - STRAIGHTLINE))
{ motor(LEFT_FWD); whichway = FORWARDLEFT; }
else
{ motor(FWD); whichway = FORWARD; }
}
}
else if(direction == HEAD_LEFT)
{
if(heading == 0)
{
if(angle <= (0 - STRAIGHTLINE))
{ motor(LEFT_REV); whichway = BACKLEFT; }
else if(angle >= (STRAIGHTLINE))
{ motor(RIGHT_REV); whichway = BACKRIGHT; }
else
{motor(REV); whichway = BACKWARDS;}
}
else
{
if(angle >= (heading + STRAIGHTLINE))
{ motor(RIGHT_REV); whichway = BACKRIGHT; }
else if(angle <= (heading - STRAIGHTLINE))
{ motor(LEFT_REV); whichway = BACKLEFT; }
else
{ motor(REV); whichway = BACKWARDS; }
}
}
}
void motor(unsigned char action)
{
//flag to determine if Mr FISC is already moving to prevent lots of stop starts
if(action == FWD){ PORTB = MOTOR_FWD; }
else if(action == REV){ PORTB = MOTOR_REV; }
else if(action == LEFT_FWD){ PORTB = MOTOR_LEFT_FWD; }
else if(action == RIGHT_FWD){ PORTB = MOTOR_RIGHT_FWD; }
else if(action == LEFT_REV){ PORTB = MOTOR_LEFT_REV; }
else if(action == RIGHT_REV){ PORTB = MOTOR_RIGHT_REV; }
else if(action == STOP){ PORTB = MOTOR_STOP; }
}
void wait(void)
{
while(!((PINC.RIGHT_SENSOR == 1)&&(PINC.LEFT_SENSOR == 1)))
{
PORTD = ALL_RED; //1010 1000
delay_ms(175);
PORTD = ALL_GREEN; //0101 0100
delay_ms(175);
}
PORTD = ALL_OFF;
delay_ms(500);
PORTD = POWERON; //1100 1100 lights on...
}
void initialise(void)
{
// UART initialization Communication Parameters: 8 Data, 1 Stop, No Parity
UCR=0x18; // UART Receiver: On UART Transmitter: On UART Baud rate: 9600
UBRR=0x19;
ACSR=0x80; // Analog Comparator initialization
ADCSR=0x85; // ADC Clock frequency: 125.000 kHz
// Port A initialization
PORTA = StartPortA; //1000 0000
DDRA = SetPortA; //O,O,I,I, I,I,I,I
// Port B initialization
PORTB = StartPortB; //0000 0000
DDRB = SetPortB; //I,I,I,I, O,O,O,O
// Port C initialization
PORTC = StartPortC; //0000 0000
DDRC = SetPortC; //I,I,O,O, I,I,I,I
// Port D initialization
PORTD = StartPortD; //1111 1100
DDRD = SetPortD; //O,O,O,O, O,O,X,X
}
Kaynak: innovexpo.itee.uq.edu.au/2003/exhibits/s363161/
alternatif Dosya indirme LINK listesi (TXT formatında) link-9172.zip şifre-pass: 320volt.com
