Thursday, 15 November 2012

Source code for Mobile Robot Tracking System Controller 20

**Coding for Controller ( Transmitter **


#include <16f877A.h> //use pic16f877a
#use delay(clock = 20000000)  //clock=20mhz
#fuses hs, noprotect, nowdt  //default setting

#byte PORTA=5  //port a address
#byte PORTB=6  //port b address
#byte PORTC=7  //port c address
#byte PORTD=8  //port d address
#byte PORTE=9  //port e address

void main()
{
   int entx=0;

   //setup io for each pic pin
   set_tris_a(0b00000000);
   set_tris_b(0b11000000);
   set_tris_c(0b10000000);
   set_tris_d(0b00000000);
   set_tris_e(0b00000000);
   output_low(pin_c6);  //off ir transmitter    

   output_high(pin_c1);  //on blue led
   delay_ms(1000);
   output_low(pin_c1);  //off blue led
   delay_ms(1000);

   do
   {
      if(input(pin_b7)==0) //if green button pressed
      {
         entx=1;    
      }

      if(input(pin_b6)==0) //if red button pressed
      {
         entx=0;    
      }

      if(entx==1)  //under run
      {
         output_high(pin_c6);  //on ir transmitter
         output_high(pin_c1);  //on blue led
         delay_ms(50);
         output_low(pin_c1);  //off blue led
         delay_ms(50);      
      }
      else  //under stop mode
      {
         output_low(pin_c1);  //off blue led    
         output_low(pin_c6);  //off ir transmitter    
      }

   }while(1);
}

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