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wall following robot using analog distance sharp sensor

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otai92:
tq  :) . I know the sensor have range of detection, if out from the range,  sensor cant work properly. I think my problem is my programming .
this is simple programming i give

#define suis1 PORTB.F0
///////output////////////
#define led1 PORTB.F6
#define led2 PORTB.F7
#define motold PORTC.F4
#define motolb PORTC.F5
#define motord PORTC.F6
#define motorb PORTC.F7
#define speedr                        CCPR1L
#define speedl                        CCPR2L
// Lcd pinout settings
sbit LCD_RS at RB4_bit;
sbit LCD_EN at RB5_bit;
sbit LCD_D4 at RD4_bit;
sbit LCD_D5 at RD5_bit;
sbit LCD_D6 at RD6_bit;
sbit LCD_D7 at RD7_bit;
// Pin direction
sbit LCD_RS_Direction at TRISB4_bit;
sbit LCD_EN_Direction at TRISB5_bit;
sbit LCD_D4_Direction at TRISD4_bit;
sbit LCD_D5_Direction at TRISD5_bit;
sbit LCD_D6_Direction at TRISD6_bit;
sbit LCD_D7_Direction at TRISD7_bit;
///////////define funtion///////////
void mula();
void adc0_display ();
void adc2_display ();
void depan(int l,int r);
void kanan(int l,int r);
void kiri(int l,int r);
//void pusing_kiri();
//void pusing_kanan();
void wallfollow();
void stop();
//////intial variable///////
int ADC_Value0,ADC_VaLue2,ad1,ad2,ad3,ad4;
int ad5,ad6,ad7,ad8;
void main()
{
  mula();
  Lcd_Init();                     // Initialize LCD
  Lcd_cmd(_LCD_CURSOR_OFF);
  lcd_out(1,1,"miroc");
  delay_ms(1000);
  Lcd_Cmd(_LCD_CLEAR);
  lcd_out(1,1,"ad1=");
  lcd_out(2,1,"ad2=");
  while(1) //infinate loop
  {
    adc0_display ();
    adc2_display ();
    if(suis1==0)
    {
      while(1)
      {
         
     if(ADC_Read(0)==ADC_Read(2))
      {
       while(ADC_Read(0)==ADC_Read(2))
        {
        led1=led2=1;
        forward(250,230);
        }
      }
     else  if((ADC_Read(0)>40)&&(ADC_Read(2)<40))
      {
        while((ADC_Read(0)>40)&&(ADC_Read(2)<40))
        {
          led1=1;
          left(180,200);

        }
      }
     else if ((ADC_Read(0)<40)&&(ADC_Read(2)>40))
      {
         while ((ADC_Read(0)<40)&&(ADC_Read(2)>40))
         {
           led2=1;
           right(200,180);

         }
      }


      else
       {
          led1=led2=1;
          foward(250,230);
       }
      }

    }


  }

}
void mula()
{
  TRISA=0b000000111; // define input or output
  TRISB=0b000000001;
  TRISC=0b000000000;
  TRISD=0b000000000;
  TRISE=0b000000000;
  ADCON1=0b000000000; // set input PORTA become become analog
  PR2=255;
  CCP1CON = 0b00001100;                //to generate PWM @ ccp1 and ccp2
  CCP2CON = 0b00001100;
  T2CON   = 0b00000110;                //on timer 2 to power up PWM
  speedl=speedr=0;
  motord=0;
  motorb=0;
  motold=0;
  motolb=0;
  led1=led2=0;
}
void adc0_display ()
{
    ADC_Value0= ADC_Read(0);
    ad1=ADC_value0/1000 +48;
    lcd_chr(1,5,ad1);
    ADC_value0%=1000;
    ad2=ADC_value0/100 +48;
    lcd_chr(1,6,ad2);
    ADC_Value0%=100;
    ad3=ADC_value0/10 +48;
    lcd_chr(1,7,ad3);
}

void adc2_display ()
{
    ADC_Value2= ADC_Read(2);
    ad5=ADC_value2/1000 +48;
    lcd_chr(2,5,ad5);
    ADC_value2%=1000;
    ad6=ADC_value2/100 +48;
    lcd_chr(2,6,ad6);
    ADC_Value2%=100;
    ad7=ADC_value2/10 +48;
    lcd_chr(2,7,ad7);
}
void foward(int l,int r)
{
  motord=1;
  motorb=0;
  speedr=r;

  motold=1;
  motolb=0;
  speedl=l;
}
void right(int l,int r)
{
  motorb=1;
  motord=0;
  speedr=r;

  motold=1;
  motolb=0;
  speedl=l;
}
void left(int l,int r)
{
   motord=1;
   motorb=0;
   speedr=r;

   motolb=1;
   motold=0;
   speedl=l;
}
void stop ()
{
   motord=0;
   motolb=0;
   speedl=0;
   speedr=0;
}

can you all give me simple coding that you did it for wall follow robot using that sensor or give me the best link/website for wall follow robot programming . Thank you again to waltr and jkerns because your relpy :) .

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