hi , i'm trying to build a micromouse robot with 3 ultrasonic sensors , my hardware part of the job is complete but i found some problems on its code because of my weak c language ,
the problem is for exampe if i write that if(right sensor > 25cm) for robot to turn right and enters the path while turning the distance's are faulty so it breaks from the if that i wrote , i postet the code that i wrote till now i'd be happy if someone please give me some hints on how to do write a good code for this robot.
/*****************************************************
This program was produced by the
CodeWizardAVR V2.05.3 Standard
Automatic Program Generator
© Copyright 1998-2011 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com
Project :
Version :
Date : 5/19/2014
Author : IBM-Lenovo
Company :
Comments:
Chip type : ATmega16A
Program type : Application
AVR Core Clock frequency: 16.000000 MHz
Memory model : Small
External RAM size : 0
Data Stack size : 256
*****************************************************/
#include <mega16a.h>
#include <alcd.h>
#include <delay.h>
#include <stdio.h>
#include <math.h>
#define trig_f PORTD.0
#define echo_f PIND.1
#define echo_l PIND.2
#define trig_l PORTD.3
#define trig_r PORTC.0
#define echo_r PINC.1
#define movf_r PORTB.1
#define movb_r PORTB.4
#define movf_l PORTB.5
#define movb_l PORTB.0
#define pwm_r OCR1A
#define pwm_l OCR2
int i=0,a=0,sum = 0,x=0,y=0 ;
unsigned char lcd_buff[16];
unsigned int d_f,d_l,d_r;
unsigned long int timer_v;
float timer_dis,distance,u;
void turn(void);
unsigned int check(void)
{
timer_v = TCNT0;
timer_dis=timer_v*0.000064;
distance=timer_dis*343.0;
u=(float)distance*50;
d_f=u;
lcd_gotoxy(0,0);
lcd_putsf("distance");
lcd_gotoxy(0,1);
sprintf(lcd_buff,"%u cm ",d_f);
lcd_puts(lcd_buff);
return d_f;
}
unsigned int check2(void)
{
timer_v = TCNT0;
timer_dis=timer_v*0.000064;
distance=timer_dis*343.0;
u=(float)distance*50;
d_r=u;
lcd_gotoxy(6,1);
sprintf(lcd_buff,"%u cm ",d_r);
lcd_puts(lcd_buff);
return d_r;
}
unsigned int check3(void)
{
timer_v = TCNT0;
timer_dis=timer_v*0.000064;
distance=timer_dis*343.0;
u=(float)distance*50;
d_l=u;
lcd_gotoxy(12,1);
sprintf(lcd_buff,"%u cm ",d_l);
lcd_puts(lcd_buff);
return d_l;
}
void calib(void)
{
if(d_r < 12)
{
pwm_r = 150;
pwm_l = 80;
movf_r = 1;
movb_r = 0;
movf_l = 1;
movb_l = 0;
}
if(d_r < 10 )
{
pwm_r = 90;
pwm_l = 0;
movf_r = 1;
movb_r = 0;
movf_l = 0;
movb_l = 0;
}
if(d_l < 12)
{
pwm_r = 80;
pwm_l = 150;
movf_r = 1;
movb_r = 0;
movf_l = 1;
movb_l = 0;
}
if(d_l < 10 )
{
pwm_l = 90;
pwm_r = 0;
movf_l = 1;
movb_r = 0;
movf_r = 0;
movb_l = 0;
}
}
void move_f()
{
pwm_l = 100;
pwm_r = 100;
movb_r = 0;
movf_l = 1;
movf_r = 1;
movb_l = 0;
}
void main(void)
{
// Declare your local variables here
// Input/Output Ports initialization
// Port A initialization
// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=Out
// State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0
PORTA=0x00;
DDRA=0xFF;
// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTB=0x80;
DDRB=0x37;
// Port C initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTC=0x02;
DDRC=0x01;
// Port D initialization
// Func7=Out Func6=In Func5=Out Func4=In Func3=Out Func2=In Func1=In Func0=Out
// State7=0 State6=T State5=0 State4=T State3=0 State2=P State1=P State0=0
PORTD=0x06;
DDRD=0xA9;
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
// Mode: Normal top=0xFF
// OC0 output: Disconnected
TCCR0=0x00;
TCNT0=0x00;
OCR0=0x00;
// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 15.625 kHz
// Mode: Fast PWM top=0x00FF
// OC1A output: Non-Inv.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0x81;
TCCR1B=0x0D;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;
// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: 15.625 kHz
// Mode: Fast PWM top=0xFF
// OC2 output: Non-Inverted PWM
ASSR=0x00;
TCCR2=0x6F;
TCNT2=0x00;
OCR2=0x00;
// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
MCUCR=0x00;
MCUCSR=0x00;
// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x00;
// USART initialization
// USART disabled
UCSRB=0x00;
// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;
// ADC initialization
// ADC disabled
ADCSRA=0x00;
// SPI initialization
// SPI disabled
SPCR=0x00;
// TWI initialization
// TWI disabled
TWCR=0x00;
// Alphanumeric LCD initialization
// Connections are specified in the
// Project|Configure|C Compiler|Libraries|Alphanumeric LCD menu:
// RS - PORTA Bit 0
// RD - PORTA Bit 1
// EN - PORTA Bit 2
// D4 - PORTA Bit 4
// D5 - PORTA Bit 5
// D6 - PORTA Bit 6
// D7 - PORTA Bit 7
// Characters/line: 16
lcd_init(16);
while (1)
{
if(PINB.7 == 1)
{
lcd_gotoxy(0,0);
lcd_putsf("Press The Start");
lcd_gotoxy(5,1);
lcd_putsf("Button");
delay_ms(1000);
lcd_clear();
}
if(PINB.7 == 0)
{
TCCR0 = 0x00;
TIMSK = 0x00;
TCNT0 = 0x00;
trig_f = 1;
delay_us(20);
trig_f = 0;
while(echo_f == 0);
TCCR0=0x05;
while(echo_f == 1);
TCCR0 = 0x00;
check();
TIMSK = 0x00;
TCNT0 = 0x00;
trig_r = 1;
delay_us(20);
trig_r = 0;
while(echo_r == 0);
TCCR0 = 0x05;
while(echo_r == 1);
TCCR0 = 0x00;
check2();
TIMSK = 0x00;
TCNT0 = 0x00;
trig_l = 1;
delay_us(20);
trig_l = 0;
while(echo_l == 0);
TCCR0 = 0x05;
while(echo_l == 1);
TCCR0 = 0x00;
check3();
delay_ms(200);
sum = (d_l + d_r)/2 ;
x= (d_l * d_l)+(d_f * d_f);
x = sqrt(x);
y = (d_r * d_r)+(d_f * d_f);
y = sqrt(y);
if(d_f>30)
{
if(d_r<10) i = 0;
if(d_l<10) i = 1;
}
if ( d_f >= 25)
{
delay_ms(200);
if(d_f >= 25)
{
move_f();
if( d_r > sum+2)
{
pwm_r = 80;
pwm_l = 140;
movb_r = 0;
movf_l = 1;
movf_r = 1;
movb_l = 0;
}
if(d_l > sum+2)
{
pwm_r = 140;
pwm_l = 80;
movb_r = 0;
movf_l = 1;
movf_r = 1;
movb_l = 0;
}
if(d_r-6 > 2*d_l)
{
pwm_r = 120;
pwm_l = 190;
movb_r = 1;
movf_l = 1;
movf_r = 0;
movb_l = 0;
delay_ms(600);
move_f();
delay_ms(800);
}
}
}
if( d_f < 25)
{
delay_ms(200);
if( d_f < 25)
{
// if( d_r > sum+2)
// {
//
// pwm_r = 80;
// pwm_l = 140;
// movb_r = 0;
// movf_l = 1;
// movf_r = 1;
// movb_l = 0;
//
// }
// if(d_l > sum+2)
// {
// pwm_r = 140;
// pwm_l = 80;
// movb_r = 0;
// movf_l = 1;
// movf_r = 1;
// movb_l = 0;
//
// }
//
//
// if(d_r<8||d_l<8)
// {
// if(d_l<8)
// {
// pwm_l = 100;
// pwm_r = 0;
// movb_r = 0;
// movf_l = 1;
// movf_r = 0;
// movb_l = 0;
// }
// if(d_r<8)
// {
// pwm_l = 0;
// pwm_r = 100;
// movb_r = 0;
// movf_l = 0;
// movf_r = 1;
// movb_l = 0;
// }
//
//
// }
switch (i)
{
case 0 :
if(d_l - d_r >= 2 || d_r - d_l >= 2)
{
pwm_l = 160;
pwm_r = 180;
movb_r = 0;
movf_l = 0;
movf_r = 1;
movb_l = 1;
};
break;
case 1 :
if(d_l - d_r >= 2 || d_r - d_l >= 2)
{
pwm_l = 180;
pwm_r = 160;
movb_r = 1;
movf_l = 1;
movf_r = 0;
movb_l = 0;
};
break;
}
}
}
}
}
}
[/code]