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Any help to modify code for servomotor of PIC16F877 pls??

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kingseow

Joined: 22 Jun 2008
Posts: 3
Location: Malaysia

Any help to modify code for servomotor of PIC16F877 pls??

Posted: Sun Jun 22, 2008 10:02 am

hi, i'm currently working on humanoid robot and now searching for the best microcontroller that can work with my algorithm.

I am new with PIC16F877a for this projects and as far as i'm concern,
the design consist 5 servo motors that should run independently at the same time.This is the servomotor i will use (HS-55):
http://www.hobbyhorse.com/hitec_hs55.shtml

i have search throughout this forum and i didn't find anything related about it, or maybe i did miss it. hope all u guys can give me any ideas and suggestions.

thanks.
This is the code i have try myself...but it seen like doesn't work =.=

Code:

unsigned cnt1;
unsigned short cnt2,cnt3,cnt4;
unsigned short move_axis1,move_axis2,move_axis3,move_axis4,move_axis5;
unsigned short position_axis1,position_axis2,position_axis3,position_axis4,position_axis5;
unsigned short enable_axis1, enable_axis2, enable_axis3, enable_axis4, enable_axis5;
unsigned short read_axis1, read_axis2, read_axis3, read_axis4, read_axis5;
unsigned short step;
unsaxis1ort speed_axis1,speed_axis2,speed_axis3,speed_axis4,speed_axis5;
unsigned short mode;

void interrupt() {
//interrupt Routine
cnt1++; // 0.065ms
TMR0 = 232;
INTCON = 0x20; // Set T0IE, clear T0IF
}//~

void main() {
OPTION_REG = 0x80; // Assign prescaler to TMR0
TRISB = 0; // PORTB is output
PORTB = 0xFF; // Initialize PORTB
TRISD = 0;
PORTD = 0;
TMR0 = 232;
INTCON = 0xA0; // Enable TMRO interrupt
cnt1 = 0; // Initialize cnt
cnt2 = 0;
cnt3 = 0;
move_axis1 = 9;
move_axis2 = 9;
move_axis3 = 9;
move_axis4 = 9;
move_axis5 = 9;
position_axis1 = 9;
position_axis2 = 9;
position_axis3 = 9;
position_axis4 = 9;
position_axis5 = 9;
enable_axis1 =0;
enable_axis2 =0;
enable_axis3 =0;
enable_axis4 =0;
enable_axis5 =0;
speed_axis1 = 4;
speed_axis2 = 4;
speed_axis3 = 4;
speed_axis4 = 4;
speed_axis5 = 4;
mode=1;
step=1;
EEprom_Write(1, 0); //for immediate serial execution; refer from senior
Delay_ms(20);
EEprom_Write(2, 0);
Delay_ms(20);
EEprom_Write(3, 0);
Delay_ms(20);
EEprom_Write(4, 0);
Delay_ms(20);
EEprom_Write(5, 0);
Delay_ms(20);
EEprom_Write(51, 141);
Delay_ms(20);
EEprom_Write(52, 138);
Delay_ms(20);
EEprom_Write(53, 134);
Delay_ms(20);
EEprom_Write(54, 138);
Delay_ms(20);
EEprom_Write(55, 141);
Delay_ms(20);
EEprom_Write(101, 0);
Delay_ms(20);
EEprom_Write(102, 0);
Delay_ms(20);
EEprom_Write(103, 0);
Delay_ms(20);
EEprom_Write(104, 0);
Delay_ms(20);
EEprom_Write(105, 0);
Delay_ms(20);
EEprom_Write(151, 0);
Delay_ms(20);
EEprom_Write(152, 0);
Delay_ms(20);
EEprom_Write(153, 0);
Delay_ms(20);
EEprom_Write(154, 0);
Delay_ms(20);
EEprom_Write(155, 0);
Delay_ms(20);
EEprom_Write(201, 0);
Delay_ms(20);
EEprom_Write(202, 0);
Delay_ms(20);
EEprom_Write(203, 0);
Delay_ms(20);
EEprom_Write(204, 0);
Delay_ms(20);
EEprom_Write(205, 0);
Delay_ms(20);

//PWM: inverted high to low
do {
if (cnt1>(position_axis1+14) && enable_axis1 ==1){
PORTD.F0=1;
}
if (cnt1>(position_axis2+14) && enable_axis2 ==1){
PORTD.F1=1;
}
if (cnt1>(position_axis3+14) && enable_axis3 ==1){
PORTD.F2=1;
}
if (cnt1>(position_axis4+14) && enable_axis4 ==1){
PORTD.F3=1;
}
if (cnt1>(position_axis5+14) && enable_axis5 ==1){
PORTD.F4=1;
}

//Time frame
if (cnt1 > 400) {
cnt1=0;
cnt2++; //20ms
PORTD=0;

//Speed Control routine
if (cnt2%speed_axis1==0) {
if (position_axis1 > move_axis1) {
position_axis1--;
}
if (position_axis1 < move_axis1) {
position_axis1++;
}
}
if (cnt2%speed_axis2==0) {
if (position_axis2 > move_axis2) {
position_axis2--;
}
if (position_axis2 < move_axis2) {
position_axis2++;
}
}
if (cnt2%speed_axis3==0) {
if (position_axis3 > move_axis3) {
position_axis3--;
}
if (position_axis3 < move_axis3) {
position_axis3++;
}
}
if (cnt2%speed_axis4==0) {
if (position_axis4 > move_axis4) {
position_axis4--;
}
if (position_axis4 < move_axis4) {
position_axis4++;
}
}
if (cnt2%speed_axis5==0) {
if (position_axis5 > move_axis5) {
position_axis5--;
}
if (position_axis5 < move_axis5) {
position_axis5++;
}
}

//Time frame and demonstration code
if (cnt2>50){ //1s
PORTB = ~PORTB; // Toggle PORTB LEDs
cnt2 = 0; // Reset cnt

if (mode ==1) {
cnt3++;
if (cnt3>30) {
cnt3=0;
}
if (cnt3==1){
enable_axis1=1;
enable_axis2=0;
enable_axis3=0;
enable_axis4=0;
enable_axis5=0;
move_axis1=8;
}
if (cnt3==3){
move_axis1=15;
}
if (cnt3==5){
move_axis1=8;
}
if (cnt3==7){
enable_axis1=0;
enable_axis2=1;
move_axis2=13;
}
if (cnt3==9){
move_axis2=6;
}
if (cnt3==11){
move_axis2=13;
}
if (cnt3==13){
enable_axis2=0;
enable_axis3=1;
move_axis3=13;
}
if (cnt3==15){
move_axis3=3;
}
if (cnt3==17){
move_axis3=13;
}
if (cnt3==19){
enable_axis3=0;
enable_axis4=1;
move_axis4=15;
}
if (cnt3==21){
move_axis4=3;
}
if (cnt3==23){
move_axis4=15;
}
if (cnt3==25){
enable_axis4=0;
enable_axis5=1;
move_axis5=13;
}
if (cnt3==27){
move_axis5=3;
}
if (cnt3==29){
move_axis5=13;
}
}

}

}

} while(1); //infinite loop
}//end program

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