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PWM problem

 
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vidvranjek



Joined: 12 May 2009
Posts: 1

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PWM problem
PostPosted: Tue May 12, 2009 12:40 pm     Reply with quote
Hi!

I'm still a newbee to C and PIC programming, so..... I'm also not english...

OK, here is my problem:

I'm trying to program a PIC to move about 6 servos simultaneously without using the internal PWM. I don't know where I went wrong (it's probably just the lack of C knowledge but please help me, I'm losing my mind with that!!

For starters I'm just trying to move 2 servos and it just doesn't do the job write. Here is the code (I'll post the whole thing in case... so just ignore the first part, its for the keypad and it works great). Both servos work until the time of the 1. servo isn't smaller than the time of the 1. servo.
Here it is... PLEASE HELP ME
Code:

#include "E:\Documents and Settings\Vid\My Documents\PIC\16F876\Servoti + tipkovnica\servoti+tipkovnica.h"

#define LCD_DATA_PORT b
#define LCD_TYPE 2
#define LCD_TRIS_LOCATION trisb
//#include <lcd.c>

void main()
{
int1 gor, dol, levo, desno, naprej, nazaj, enter, izhod, meni;
unsigned long pwm;
unsigned long pb[2];
unsigned long s[2];
int8 pin[2];
int n,x,y,temp,q;

   setup_adc_ports(AN0);
   setup_adc(ADC_CLOCK_DIV_8);
   setup_spi(SPI_SS_DISABLED);
   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
   setup_wdt(WDT_2304MS);
   setup_timer_1(T1_DISABLED);
   setup_timer_2(T2_DISABLED,0,1);
   setup_comparator(NC_NC_NC_NC);
   setup_vref(FALSE);

   set_adc_channel(pin_a0);

WHILE(1)
{
  output_high(pin_a1);                                       //KEYPAD
  if(input_state(pin_a4)==1){gor=1;}     else    gor=0;
  if(input_state(pin_a5)==1){dol=1;}     else    dol=0;
  if(input_state(pin_c7)==1){levo=1;}    else   levo=0;
  output_low(pin_a1);
  output_high(pin_a2);
  if(input_state(pin_a4)==1){izhod=1;}   else  izhod=0;
  if(input_state(pin_a5)==1){naprej=1;}  else naprej=0;
  if(input_state(pin_c7)==1){nazaj=1;}   else  nazaj=0;
  output_low(pin_a2);
  output_high(pin_a3);
  if(input_state(pin_a4)==1){meni=1;}    else   meni=0;
  if(input_state(pin_a5)==1){enter=1;}   else  enter=0;
  if(input_state(pin_c7)==1){desno=1;}   else  desno=0;
  output_low(pin_a3);

 if (pwm>2500){pwm=2500;}
 if (pwm<500){pwm=500;}
 if (s[0]>2201){s[0]=2200;}                       // s[0] = 1. servo position
 if (s[0]<799){s[0]=800;}                         // s[1] = 2. servo position
 
 if (levo==1) {s[0]=s[0]+20;}
 if (desno==1) {s[0]=s[0]-20;}

s[1]=read_adc()+1000;
n=2; 

pb[0]=s[0];
pb[1]=s[1];

  for( x=0; x<n; x++)                     // bubble sort
   {   
     for( y=0; y<n-1; y++)
      {
         if(pb[y]>pb[y+1])
         {
            temp = pb[y+1];
            pb[y+1] = pb[y];
            pb[y] = temp;
           
         }
         
      }             
   }
       
 
   for(q=0;q<n;q++)
   {
     
      if(s[q]==pb[0]){pin[q]=pin_b0;}
      if(s[q]==pb[1]){pin[q]=pin_b1;}
     
   }   
 // if(s[0]>s[1]){pin[1]=pin_b0;pin[0]=pin_b1;} else    pin[0]=pin_b0;pin[1]=pin_b1;
   
 // if(s[0]<s[1]){output_high(pin_b5);} else output_low(pin_b5);           
 
 // if(pin[1]==pin_b0) {output_high(pin_b4);}  output_low(pin_b4);   
  output_high(pin_b0);
  output_high(pin_b1);
  delay_us(pb[0]);
  output_low(pin[0]);
  delay_us(pb[1]-pb[0]);
  output_low(pin[1]);
  delay_us(20000-pb[1]);
}

}
PCM programmer



Joined: 06 Sep 2003
Posts: 21708

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PostPosted: Tue May 12, 2009 2:19 pm     Reply with quote
Quote:
set_adc_channel(pin_a0);

This is wrong. The ADC channel is a number such as 0, 1, or 2, etc.
It's not a CCS pin constant.

If you still have problems, then post this file:
Quote:
servoti+tipkovnica.h


Also post your compiler version.
bungee-



Joined: 27 Jun 2007
Posts: 206

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PostPosted: Tue May 12, 2009 2:23 pm     Reply with quote
I have posted a code for multiple servos on PIC18F4550, but it can be rewriten for other PIC-s ....


Here is the link.
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