robotmlk
Joined: 27 Sep 2008
Posts: 1
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| Help me convert Basic servo program to C |
 Posted: Sat Sep 27, 2008 6:28 pm |
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Anybody can help me to convert this program to ccs program. This is basic program. I don't know how to create it. Really need your help.
| Code: | 'Slowspeed
'Manual control of five servomotors using 5 SPDT switches
'Microcontroller PIC 16F873
adcon1 = 7 'Set port a to digital I/O
'Declare variables
b0 var byte 'Use b0 as hold pulse width variable for servo 1
b1 var byte 'Use b1 to hold pulse width variable for servo 2
b2 var byte 'Use b2 to hold pulse width variable for servo 3
b3 var byte 'Use b3 to hold pulse width variable for servo 4
b4 var byte 'Use b4 to hold pulse width variable for servo 5
b6 var byte 'Variable for pause routine
b7 var word 'Variable for pause routine
s1 var byte 'Unassigned delay variable
s2 var byte 'Assigned delay variable
'Initialize servomotor variables
b0 = 150 'Start up position servo 1
b1 = 150 'Start up position servo 2
b2 = 150 'Start up position servo 3
b3 = 150 'Start up position servo 4
b4 = 150 'Start up position servo 5
s2 = 4 'Delay variable
start:
'Output servomotor position
portb = 0 'Prevents potential signal inversion on reset
pulsout portb.7, b0 'Send current servo 1 position out
pulsout portb.6, b1 'Send current servo 2 position out
pulsout portb.5, b2 'Send current servo 3 position out
pulsout portb.4, b3 'Send current servo 4 position out
pulsout portb.3, b4 'Send current servo 5 position out
'Routine to adjust pause value (nom 18) to generate approx 50 Hz update
b7 = b0 + b1 + b2 + b3 + b4
b6 = b7/100
b7 = 15 - b6
pause b7
'Check for switch closures
if portc.3 = 0 then left5 'Is sw1 left active?
if portc.2 = 0 then right5 'Is sw1 right active?
if portc.1 = 0 then left4 'Is sw2 left active?
if portc.0 = 0 then right4 'Is sw2 right active?
if porta.5 = 0 then left3 'Is sw3 left active?
if porta.4 = 0 then right3 'Is sw3 right active?
if porta.3 = 0 then left2 'Is sw4 left active?
if porta.2 = 0 then right2 'Is sw4 right active?
if porta.1 = 0 then left1 'Is sw5 left active?
if porta.0 = 0 then right1 'Is sw5 right active?
goto start
'Routines for servomotor 1
left1:
s1 = s1 + 1
if s1 = s2 then
b0 = b0 + 1 'Increase the pulse width
s1 = 0
endif
if b0 > 254 then max0 'Maximum 2.54 milliseconds
goto start
right1:
s1 = s1 + 1
if s1 = s2 then
b0 = b0 - 1 'Decrease the pulse width
s1 = 0
endif
if b0 < 75 then min0 'Minimum .75 millisecond
goto start
max0:
b0 = 254 'Cap max b1 at 2.54 milliseconds
goto start
min0:
b0 = 75 'Cap min b1 at .75 millisecond
goto start
'Routines for servomotor 2
left2:
s1 = s1 + 1
if s1 = s2 then
b1 = b1 + 1 'Increase the pulse width
s1 = 0
endif
if b1 > 254 then max1 'Maximum 2.54 milliseconds
goto start
right2:
s1 = s1 + 1
if s1 = s2 then
b1 = b1 - 1 'Decrease the pulse width
s1 = 0
endif
if b1 < 75 then min1 'Minimum .75 millisecond
goto start
max1:
b1 = 254 'Cap max b1 at 2.54 milliseconds
goto start
min1:
b1 = 75 'Cap min b1 at .75 millisecond
goto start
'Routines for servomotor 3
left3:
s1 = s1 + 1
if s1 = s2 then
b2 = b2 + 1 'Increase the pulse width
s1 = 0
endif
if b2 > 254 then max2 'Maximum 2.54 milliseconds
goto start
right3:
s1 = s1 + 1
if s1 = s2 then
b2 = b2-1 'Decrease the pulse width
s1 = 0
endif
if b2 < 75 then min2 'Minimum .75 millisecond
goto start
max2:
b2 = 254 'Cap max b2 at 2.54 milliseconds
goto start
min2:
b2 = 75 'Cap min b2 at .75 millisecond
goto start
'Routines for servomotor 4
left4:
s1 = s1 + 1 'Increase the pulse width
if s1 = s2 then
b3 = b3 + 1
s1 = 0
endif
if b3 > 254 then max3 'Maximum 2.54 milliseconds
goto start
right4:
s1 = s1 + 1
if s1 = s2 then
b3 = b3-1 'Decrease the pulse width
s1 = 0
endif
if b3 < 75 then min3 'Minimum .75 millisecond
goto start
max3:
b3 = 254 'Cap max b3 at 2.54 milliseconds
goto start
min3:
b3 = 75 'Cap min b3 at .75 millisecond
goto start
'Routines for servomotor 5
left5:
s1 = s1 + 1
if s1 = s2 then
b4 = b4 + 1 'Increase the pulse width
s1 = 0
endif
if b4 > 254 then max4 'Maximum 2.54 milliseconds
goto start
right5:
s1 = s1 + 1
if s1 = s2 then
b4 = b4-1 'Decrease the pulse width
s1 = 0
endif
if b4 < 75 then min4 'Minimum .75 millisecond
goto start
max4:
b4 = 254 'Cap max b4 at 2.54 milliseconds
goto start
min4:
b4 = 75 'Cap min b4 at .75 millisecond
goto start
end |
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