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mọi người ai biết giúp mình với!!!!!
Mjnh đang tự làm con robot dò đường dùng pic 16f877a nhưng cai code ko hiểu sao lại ko chạy dc ai pro vào xem hộ mìn cái !
#include <16F877A.h>
#device adc=10
#FUSES NOWDT //No Watch Dog Timer
#FUSES HS //High speed Osc (> 4mhz for PCM/PCH) (>10mhz for PCD)
#FUSES NOPUT //No Power Up Timer
#FUSES NOPROTECT //Code not protected from reading
#FUSES NODEBUG //No Debug mode for ICD
#FUSES NOBROWNOUT //No brownout reset
#FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O
#FUSES NOCPD //No EE protection
#FUSES NOWRT //Program memory not write protected
#FUSES RESERVED //Used to set the reserved FUSE bits
#use delay(clock=24000000)
#define dc_t(x) set_pwm1_duty(x)
#define dc_p(x) set_pwm2_duty(x)
#define dir_t_l output_low(pin_c2) // dc_1 muc thap
#define dir_t_h output_high(pin_c3) // dc_1 muc cao
#define dir_p_l output_low(pin_c0) // dc_2 muc thap
#define dir_p_h output_high(pin_c1) // dc_2 muc cao
/////////////////////////////////////////////
INT8 SENSOR=0xfc;
INT1 LEFT,RIGHT;
INT8 SPEED; //toc do dong co
int8 nguong = 100; // nguong cam bien /////////////////////////////////////////////////////////////////////////
INT8 DELTA_P=0;
INT8 DELTA_T=0;
VOID scan()
{
int8 k;
sensor=0;
for(k=0;k<=5;k++)
{
set_adc_channel(k);
delay_ms(10);
if(read_adc()>150) bit_set(sensor,k);
}
}
VOID TU_DONG_TIEN()
{
if (sensor==0b00100000){dc_t(10);dc_p(60);}
if (sensor==0b00010000){dc_t(10);dc_p(50);}
if (sensor==0b00001000){dc_t(10);dc_p(40);}
if (sensor==0b00001100){dc_t(50);dc_p(50);}
if (sensor==0b00000100){dc_t(60);dc_p(10);}
if (sensor==0b00000010){dc_t(50);dc_p(10);}
if (sensor==0b00000001){dc_t(40);dc_p(0);}
}
void main()
{
setup_timer_2(T2_div_by_4,100,1);
setup_ccp1(ccp_pwm);
setup_ccp2(ccp_pwm);
//Dinh huong cong vao ra
set_tris_a(255); // Cong A vao
set_tris_c(0); // Cong C ra
//set_timer0(0xFFFE);
while(1)
{
scan();
//sensor=0b00000001
void tu_dong_tien();/////////////////////////////////////////////////////////////////////////////////////////////////////////////
//sensor=0b00000000;
}
}
#include <16F877A.h>
#device adc=10
#FUSES NOWDT //No Watch Dog Timer
#FUSES HS //High speed Osc (> 4mhz for PCM/PCH) (>10mhz for PCD)
#FUSES NOPUT //No Power Up Timer
#FUSES NOPROTECT //Code not protected from reading
#FUSES NODEBUG //No Debug mode for ICD
#FUSES NOBROWNOUT //No brownout reset
#FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O
#FUSES NOCPD //No EE protection
#FUSES NOWRT //Program memory not write protected
#FUSES RESERVED //Used to set the reserved FUSE bits
#use delay(clock=24000000)
#define dc_t(x) set_pwm1_duty(x)
#define dc_p(x) set_pwm2_duty(x)
#define dir_t_l output_low(pin_c2) // dc_1 muc thap
#define dir_t_h output_high(pin_c3) // dc_1 muc cao
#define dir_p_l output_low(pin_c0) // dc_2 muc thap
#define dir_p_h output_high(pin_c1) // dc_2 muc cao
/////////////////////////////////////////////
INT8 SENSOR=0xfc;
INT1 LEFT,RIGHT;
INT8 SPEED; //toc do dong co
int8 nguong = 100; // nguong cam bien /////////////////////////////////////////////////////////////////////////
INT8 DELTA_P=0;
INT8 DELTA_T=0;
VOID scan()
{
int8 k;
sensor=0;
for(k=0;k<=5;k++)
{
set_adc_channel(k);
delay_ms(10);
if(read_adc()>150) bit_set(sensor,k);
}
}
VOID TU_DONG_TIEN()
{
if (sensor==0b00100000){dc_t(10);dc_p(60);}
if (sensor==0b00010000){dc_t(10);dc_p(50);}
if (sensor==0b00001000){dc_t(10);dc_p(40);}
if (sensor==0b00001100){dc_t(50);dc_p(50);}
if (sensor==0b00000100){dc_t(60);dc_p(10);}
if (sensor==0b00000010){dc_t(50);dc_p(10);}
if (sensor==0b00000001){dc_t(40);dc_p(0);}
}
void main()
{
setup_timer_2(T2_div_by_4,100,1);
setup_ccp1(ccp_pwm);
setup_ccp2(ccp_pwm);
//Dinh huong cong vao ra
set_tris_a(255); // Cong A vao
set_tris_c(0); // Cong C ra
//set_timer0(0xFFFE);
while(1)
{
scan();
//sensor=0b00000001
void tu_dong_tien();/////////////////////////////////////////////////////////////////////////////////////////////////////////////
//sensor=0b00000000;
}
}
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