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Neimen
Joined: 16 Mar 2012
Posts: 3
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| Controlling 3 servos using ADXL345 accelerometer |
 Posted: Sat Mar 24, 2012 6:56 am |
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Hello,
I have a project that is stabilizing a camera with gyro sensor and accelerometer.
I'm using PIC16f887 and trying to write a code that is controlling 3 servo motors using ADXL345 accelerometer but without any success.
I really need your help for writing me the code.
Here is the code that work great for my ADXL345 3 axis:
| Code: |
#include <w.h>
#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7)
#use i2c(master, sda=PIN_C4, scl=PIN_C3, force_hw)
#use fast_io(e)
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#define ACCEL_WRITE_ADDR 0xA6
#define ACCEL_READ_ADDR 0xA7
#define ACCEL_DATA_ADDR 0x32
#define ACCEL_PWRCTRL_ADDR 0x2d
#define ACCEL_MEASURE_MODE 0x08
void main ()
{
int i;
int accel_data[6];
set_tris_e(0x00);
// initialize
for (i = 0; i < 6; i++) {
accel_data[i] = 0;
}
while(true) {
// Tell the accelerometer to wake up
i2c_start();
i2c_write(ACCEL_WRITE_ADDR);
i2c_write(ACCEL_PWRCTRL_ADDR);
i2c_write(ACCEL_MEASURE_MODE);
i2c_stop();
// Read data from the accel
i2c_start();
i2c_write(ACCEL_WRITE_ADDR);
i2c_write(ACCEL_DATA_ADDR);
i2c_start();
i2c_write(ACCEL_READ_ADDR);
accel_data[0] = i2c_read(); //x0
accel_data[1] = i2c_read(); //x1
accel_data[2] = i2c_read(); //y0
accel_data[3] = i2c_read(); //y1
accel_data[4] = i2c_read(); //z0
accel_data[5] = i2c_read(0); // z1, NACK on last read
i2c_stop();
// Display
for (i = 0; i < 6; i++) {
fprintf("%x",accel_data[i]);
}
fprintf("\n\r");
delay_ms(10);
}
} |
Please help me with this code!!! |
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temtronic
Joined: 01 Jul 2010
Posts: 9170
Location: Greensville,Ontario
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| Posted: Sat Mar 24, 2012 7:54 pm |
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I'll give you 3 helpful hints...
1) Always add 'errors' to the use rs232(...) line whenever using the hardware UART.
2) You should specify what make/model of 'servo motors' you're referring to. They range from super simple generic RC hobby servo units to direct drive 3HP units with 1024 optical encoder feedback.
3) Selfcode variables.eg: instead of accel_data[2] use a better name, say accel_data_y0. It will help you remember what the data actually is and help others try to figure out what is wrong.
also...
Unless you're 100% sure of what you're doing, avoid using fast_io() !If you don't properly code the tris registers you will have problems.it is very,very rare you _need_ fast_io().
another freebie
When you're happy with a chunk of code, say 'read_the_accellerometer', turn it into a function. That way,it 'cleans up' the main code allowing you to concertrate on new code. |
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