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Christian
Joined: 11 Nov 2005
Posts: 6
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| Motor control Via RS232. |
 Posted: Fri Nov 18, 2005 8:28 pm |
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Hi,
I have written some code to control two motors speed and direction via RS232 the transmitting pic works great but the receiving pic will only turn pins A4, B0 and B7 on/off.
Transmitter code:
Header:
| Code: | #include <16F88.h>
#device adc=10
#use delay(clock=20000000)
#fuses NOWDT,HS, NOPUT, NOMCLR, BROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, FCMEN, IESO
#use rs232(baud=9600,parity=N,xmit=PIN_B5,rcv=PIN_B2,bits=8)
//#include <stdlib.h> |
Program:
| Code: | #include "C:\Documents and Settings\C\Desktop\Test\Comms\Comms_TX.h"
//Configaration.
SET_TRIS_A(0x00); //Sets pins 17 & 18 to Inputs.
SET_TRIS_B(0x80); //Sets pin 13 to be an Input.
SETUP_ADC(ADC_CLOCK_INTERNAL); //Sets ADC clock to internal clock.
SETUP_ADC_PORTS(sAN0,sAN1,VSS_VDD); //Sets Analog Inputs 0 & 1.
//Variables.
int TX=0; //Variable to be transmitted.
int TXR=0; //Right side variable to be transmitted.
int TXL=0; //Left side variable to be transmitted.
int Light=0; //Variable to be transmitted for lights.
int16 ADC0=0; //variable for ADC channel 0.
int16 ADC1=0; //variable for ADC channel 1.
int16 RF=0; //Analog value for Right Forward.
int16 RR=0; //Analog value for Right Reverse.
int16 LF=0; //Analog value for Left Forward.
int16 LR=0; //Analog value for Left Reverse.
int16 Right=0; //PWM Variable for the right side.
int16 Left=0; //PWM Variable for the left side.
//Progarm.
void Main()
{
while(1)
//Right Side.
{
set_adc_channel(0); //select ADC channel 0.
delay_us(10); //Wait for channel to be set.
ADC0 = read_adc(); //Read ADC.
ADC0>>=6; //Format ADC0.
// printf("Reading ADC0\n\r"); //Debuging
// printf("ADC0 = %lu\n\r",ADC0);
if(ADC0>=512) //If ADC0 is greater than 512, then start processing for the right side to move forward.
{
// printf("Starting RF\n\r"); //Debuging
RF = ADC0 - 512; //Set RF equal to ADC0 - 512, so RF is between 0 & 512.
if(RF >= Right) //This is because the forward value is high to go faster.
{
TXR = 0x01; //To turn the right pin on the reciver on, to move the right side forward.
}
else
{
TXR = 0x00; //To turn the right pin on the reciver off so the right side isn't continuously on.
}
if(Right <= 0) //When Right equals 0 set back to 511 continue the PWM.
{
Right = 511;
}
else
{
Right--; //Decrement Right.
}
// printf("Finishing RF\n\r"); //Debuging
}
else //If ADC0 is less than 512, then start processing for the right side to move backward.
{
// printf("Starting RR\n\r"); //Debuging
RR = ADC0; //Set RR equal to ADC0.
if(RR <= Right) //This is because the reverse value is lower to go faster.
{
TXR = 0x02; //To turn the right pin on the reciver on, to move the right side backward.
}
else
{
TXR = 0x00; //To turn the right pin on the reciver off so the right side isn't continuously on.
}
if(Right >= 511) //When Right equals 511 set back to 0 continue the PWM.
{
Right = 0;
}
else
{
Right++; //Increment Right.
}
// printf("Finishing RR\n\r"); //Debuging
}
//Left Side.
set_adc_channel(1); //select ADC channel 1.
delay_us(10); //Wait for channel to be set.
ADC1 = read_adc(); //Read ADC.
ADC1>>=6; //Format ADC1.
// printf("Reading ADC1\n\r"); //Debuging
// printf("ADC1 = %lu\n\r",ADC1);
if(ADC1>=512) //If ADC1 is greater than 512, then start processing for the left side to move forward.
{
// printf("Starting LF\n\r"); //Debuging
LF = ADC1 - 512; //Set LF equal to ADC1 - 512, so LF is between 0 & 512.
if(LF >= Left) //This is because the forward value is high to go faster.
{
TXL = 0x04; //To turn the right pin on the reciver on, to move the left side forward.
}
else
{
TXL = 0x00; //To turn the right pin on the reciver off so the left side isn't continuously on.
}
if(Left <= 0) //When Left equals 0 set back to 511 continue the PWM.
{
Left = 511;
}
else
{
Left--; //Decrement Left.
}
// printf("Finishing LF\n\r"); //Debuging
}
else //If ADC0 is less than 512, then start processing for the left side to move backward.
{
// printf("Starting LR\n\r"); //Debuging
LR = ADC1; //Set LR equal to ADC1.
if(LR <= Left) //This is because the reverse value is lower to go faster.
{
TXL = 0x08; //To turn the right pin on the reciver on, to move the left side backward.
}
else
{
TXL = 0x00; //To turn the right pin on the reciver off so the left side isn't continuously on.
}
if(Left >= 511) //When Left equals 511 set back to 0 continue the PWM.
{
Left = 0;
}
else
{
Left++; //Increment Left.
}
// printf("Finishing LR\n\r"); //Debuging
}
delay_ms(20); //Wait 10mS
//Lights.
// printf("Starting Lights\n\r"); //Debuging
if(input(PIN_B7)) //If pin B7 is high set Light to turn the lights on.
{
Light = 0x08; //to turn the pin on the reciver on, to turn the lights on.
}
else
{
Light = 0x00; //To turn the light pin on the reciver off so the lights are not continuously on.
}
// printf("Finishing Lights\n\r"); //Debuging
// Transmit.
// printf("Starting Trans\n\r"); //Debuging
TX = (TXL + TXR + Light); //Combine TXL, TXR & Light ready to be send.
putc(TX); //Transmit TX.
// printf("%U\n\r",TX);
// printf("Finishing Trans\n\r"); //Debuging
}
} |
Receiver code:
Header:
| Code: | #include <16F88.h>
#device adc=8
#use delay(clock=20000000)
#fuses NOWDT,HS, NOPUT, NOMCLR, NOBROWNOUT, LVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, FCMEN, IESO
#use rs232(baud=9600,parity=N,xmit=PIN_B5,rcv=PIN_B2,bits=8,errors)
|
Program:
| Code: | #include "C:\Documents and Settings\C\Desktop\Test\Comms\Comms_RX.h"
//Configaration.
setup_adc_ports(no_analogs); //Set no analog Inputs.
SET_TRIS_A(0x20); //Sets pin A5 to be an Input.
SET_TRIS_B(0x00); //Sets all pins to Outputs.
output_a(0);
output_b(0);
//Variables.
char RX; //Variable to be Recived.
//Progarm.
void Main()
{
while(1)
{
RX = getc(); //Recives RX.
// if(input(PIN_A5)) //If pin A5 is high, then the vehicle can only move backwards.
// {
// bit_clear(RX,0);
// bit_clear(RX,2);
// }
// else
// {
// RX=RX;
// }
//
if(bit_test(RX,0)||bit_test(RX,1)) //To turn pin A0 on/off depending on RX, bit 0,1.(Right PWM)
{
output_high(PIN_A0);
}
else
{
output_low(PIN_A0);
}
if(bit_test(RX,2)||bit_test(RX,3)) //To turn pin A3 on/off depending on RX, bit 2,3.(Left PWM)
{
output_high(PIN_A3);
}
else
{
output_low(PIN_A3);
}
if(bit_test(RX,0)) //To turn pin A1 on/off depending on RX, bit 0.(RF)
{
output_high(PIN_A1);
}
else
{
output_low(PIN_A1);
}
if(bit_test(RX,1)) //To turn pin B7 on/off depending on RX, bit 1.(RR)
{
output_high(PIN_B7);
}
else
{
output_low(PIN_B7);
}
if(bit_test(RX,2)) //To turn pin A2 on/off depending on RX, bit 2.(LF)
{
output_high(PIN_A2);
}
else
{
output_low(PIN_A2);
}
if(bit_test(RX,3)) //To turn pin A4 on/off depending on RX, bit 3.(LR)
{
output_high(PIN_A4);
}
else
{
output_low(PIN_A4);
}
if(bit_test(RX,4)) //To turn pin B0 on/off depending on RX, bit 4.(Lights)
{
output_high(PIN_B0);;
}
else
{
output_low(PIN_B0);
}
}
} |
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PCM programmer
Joined: 06 Sep 2003
Posts: 21708
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| Posted: Fri Nov 18, 2005 11:55 pm |
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Can you explain why your configuration code is floating off in space
somewhere above main() ? This code should be placed right at the
start of main().
| Quote: | #include "C:\Documents and Settings\C\Desktop\Test\Comms\Comms_TX.h"
//Configaration.
SET_TRIS_A(0x00); //Sets pins 17 & 18 to Inputs.
SET_TRIS_B(0x80); //Sets pin 13 to be an Input.
SETUP_ADC(ADC_CLOCK_INTERNAL); //Sets ADC clock to internal clock.
SETUP_ADC_PORTS(sAN0,sAN1,VSS_VDD); //Sets Analog Inputs 0 & 1.
//Variables.
int TX=0; //Variable to be transmitted.
int TXR=0; //Right side variable to be transmitted.
int TXL=0; //Left side variable to be transmitted.
int Light=0; //Variable to be transmitted for lights.
int16 ADC0=0; //variable for ADC channel 0.
int16 ADC1=0; //variable for ADC channel 1.
int16 RF=0; //Analog value for Right Forward.
int16 RR=0; //Analog value for Right Reverse.
int16 LF=0; //Analog value for Left Forward.
int16 LR=0; //Analog value for Left Reverse.
int16 Right=0; //PWM Variable for the right side.
int16 Left=0; //PWM Variable for the left side.
//Progarm.
void Main()
{
<--- Put it here.
while(1)
//Right Side.
{
set_adc_channel(0); //select ADC channel 0.
delay_us(10); //Wait for channel to be set. |
| Quote: | #include "C:\Documents and Settings\C\Desktop\Test\Comms\Comms_RX.h"
//Configaration.
setup_adc_ports(no_analogs); //Set no analog Inputs.
SET_TRIS_A(0x20); //Sets pin A5 to be an Input.
SET_TRIS_B(0x00); //Sets all pins to Outputs.
output_a(0);
output_b(0);
//Variables.
char RX; //Variable to be Recived.
//Progarm.
void Main()
{
<--- Put it here.
while(1)
{
RX = getc(); //Recives RX. |
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Christian
Joined: 11 Nov 2005
Posts: 6
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| Posted: Sat Nov 19, 2005 12:39 am |
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| I don't know where I picked it up from, could be a copy and paste mistake. The transmitter code works great after a few code modifications, but now the receiver code dose not seem to work at all. |
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PCM programmer
Joined: 06 Sep 2003
Posts: 21708
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| Posted: Sat Nov 19, 2005 12:44 am |
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| Quote: | #fuses NOWDT,HS, NOPUT, NOMCLR, NOBROWNOUT, LVP,
NOCPD, NOWRT, NODEBUG, NOPROTECT, FCMEN, IESO |
The receiver has the LVP fuse set. Are you using LVP mode for this PIC ? |
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Christian
Joined: 11 Nov 2005
Posts: 6
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| Posted: Sat Nov 19, 2005 12:53 am |
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| No, I have changed the fuse to NOLVP but the code still does not work. |
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PCM programmer
Joined: 06 Sep 2003
Posts: 21708
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| Posted: Sat Nov 19, 2005 1:22 am |
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I looked a bit more closely at your code. Before, I didn't look at
in terms of functioning, I just looked for obvious things.
Your TRIS statements are wrong. You have the TRIS for the UART
receiver (pin B2) set to be an output pin. It's supposed to be set to
an input.
Are you using "fast_io" mode ?
Is "fast_io" mode specified in the Comms_TX.h" and Comms_RX.h files ? |
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Christian
Joined: 11 Nov 2005
Posts: 6
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| Posted: Sat Nov 19, 2005 1:56 am |
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Thank you, 
I fixed the TRIS statments, and also add fast_io to both Comms_TX and Comms_RX for both port a & b, and it is working great.
-Christian |
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