#include <mega16.h>
#include <delay.h>
// Alphanumeric LCD Module functions
#asm
.equ __lcd_port=0x15 ;PORTC
#endasm
#include <lcd.h>
// Declare your global variables here
flash int M1[5]={200,150,160,170,200};
flash int M2[5]={-200,-80,-30,0,30};
bit bk=0;
float j=1;
int k=0,h=0;
long int z=0;
void motor(int p1,int p2)
{
if(p1>=0)OCR1AL=(int)(p1*j);else OCR1AL=-1*(int)(p1*j);
if(p2>=0)OCR1BL=(int)(p2*j);else OCR1BL=-1*(int)(p2*j);
if(p1>=0)
{
PORTD.2=1;
PORTD.3=0;
}
if(p1<0)
{
PORTD.2=0;
PORTD.3=1;
}
if(p2>=0)
{
PORTD.0=1;
PORTD.1=0;
}
if(p2<0)
{
PORTD.0=0;
PORTD.1=1;
}
}
void main(void)
{
// Declare your local variables here
// Input/Output Ports initialization
// Port A initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=P State6=P State5=P State4=P State3=P State2=P State1=P State0=P
PORTA=0xFF;
DDRA=0x00;
// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=P State6=P State5=P State4=P State3=P State2=P State1=P State0=P
PORTB=0xFF;
DDRB=0x00;
// Port C initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTC=0x00;
DDRC=0x00;
// Port D initialization
// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=Out
// State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0
PORTD=0x00;
DDRD=0xFF;
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
// Mode: Normal top=FFh
// OC0 output: Disconnected
TCCR0=0x00;
TCNT0=0x00;
OCR0=0x00;
// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 31.250 kHz
// Mode: Fast PWM top=00FFh
// OC1A output: Non-Inv.
// OC1B output: Non-Inv.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer 1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0xA1;
TCCR1B=0x0C;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;
// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: Timer 2 Stopped
// Mode: Normal top=FFh
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;
// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
MCUCR=0x00;
MCUCSR=0x00;
// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x00;
// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;
// LCD module initialization
lcd_init(16);
while (1)
{
lcd_gotoxy(5,0);
lcd_putsf("5 - 1");
lcd_gotoxy(4,1);
lcd_putsf("Helli 2");
delay_ms(1000);
lcd_clear();
lcd_gotoxy(0,0);
lcd_putsf("Shirazi Askarian");
lcd_putsf("Kazemi Farhadian") ;
delay_ms(2000);
lcd_clear();
str:
if(PINB.7==0)
{lcd_clear();
while(1)
{
if(PINB.7==1)
goto str;
if((PINA.5==0&&PINA.4==0&&PINB.0==0)||(PINA.5==0&&PINA.4==0&&PINB.0==1)||(PINA.5==0&&PINB.0==0&&PINA.4==1))
{
if((PINB.5==1&&PINB.6==1)&&bk==0)
{lcd_gotoxy(3,1);
lcd_putsf("S ");
while(1)
{motor(200,200);
if(PINB.4==1&&PINA.0==1)
goto bbin;
}
bbin:
bk=1;
}
if((PINB.5==1||PINB.6==1||(PINB.5==1&&PINB.6==1))&&bk==1)
bk=1;
//////////////////\\\\\\\\\\\\\\\\\\\\\
if((PINB.5==0&&PINB.6==0)&&bk==1)
{lcd_gotoxy(3,1);
lcd_putsf("S ");
while(1)
{motor(200,200);
if(PINB.4==0&&PINA.0==0)
goto bin;
z++;
if(z>10000)
goto bin;
}
bin:
z=0;
bk=0;
}
//////////////////\\\\\\\\\\\\\\\\\\\\\\
if((PINB.5==0||PINB.6==0||(PINB.5==0&&PINB.6==0))&&bk==0)
bk=0;
}
lcd_gotoxy(14,0);
if(bk==1)lcd_putsf("B");
if(bk==0)lcd_putsf("W");
/*if((PINA.5+PINA.3+PINA.4+PINB.0+PINB.1<3&&bk==0)||bk==1)
{
if((PINB.5==1&&PINB.6==1)&&bk==0)
{l++;
z=0;
}
if(((PINB.5==0&&PINB.6==0)||(PINB.5==0)||(PINB.6==0))&&bk==1)
{z++;
l=0;
}
if(l>25)
bk=1;
if(z>5)
bk=0;
}
if(bk==1)lcd_putsf("(B)");
if(bk==0)lcd_putsf("(W)");*/
/////////////////\\\\\\\\\\\\\\\\\\\\\
if(PINA.7==1&&j==1)
{
h++;
k=0;
}
if(PINA.7==0)
h=0;
if(PINA.6==1&&j==1)
{
k++;
h=0;
}
if(PINA.6==0)
k=0;
lcd_gotoxy(14,1);
if(h>25)
{
lcd_putsf("L");
j=0.50;
}
if(k>10)
{
lcd_putsf("H");
j=1.275;
}
if(k<10&&h<25)
{lcd_gotoxy(13,1);
lcd_putsf("M");
j=1.0;
}
/////////////////////\\\\\\\\\\\\\\\\\\\\\\\
lcd_gotoxy(0,0);
lcd_putchar(PINB.4+'0');
lcd_putchar(PINB.3+'0');
lcd_putchar(PINB.2+'0');
lcd_putchar(PINB.1+'0');
lcd_putchar(PINB.0+'0');
lcd_putchar(PINA.5+'0');
lcd_putchar(PINA.4+'0');
lcd_putchar(PINA.3+'0');
lcd_putchar(PINA.2+'0');
lcd_putchar(PINA.1+'0');
lcd_putchar(PINA.0+'0');
lcd_gotoxy(11,1);
lcd_putchar(PINB.5+'0');
lcd_putchar(PINB.6+'0');
///////////////////\\\\\\\\\\\\\\\\\\\\\\\\\\
lcd_gotoxy(3,1);
if((PINA.5==1&&PINA.4+PINA.3+PINA.2+PINA.1+PINA.0>=3&&PINB.4+PINB.3+PINB.2+PINB.1+PINB.0<=1&&!bk)||(PINA.5==1&&PINB.4==1&&!bk))
{
motor(M2[0],M1[0]);
lcd_putsf("R60");
delay_ms(200);
continue;
}
if((PINA.5==1&&PINA.4+PINA.3+PINA.2+PINA.1+PINA.0<=1&&PINB.4+PINB.3+PINB.2+PINB.1+PINB.0>=3&&!bk)||(PINA.5==1&&PINA.0==1&&!bk))
{
motor(M1[0],M2[0]);
lcd_putsf("L60 ");
delay_ms(200);
continue;
}
if((PINA.5==1&&!bk)||(PINA.5==0&&bk))//Straight
{
motor(200,200);
lcd_putsf("S ");
delay_ms(10);
continue;
}
if((PINB.4==1&&!bk)||(PINB.4==0&&bk))//Left 5
{
motor(M1[0],M2[0]);
lcd_putsf("L5 ");
continue;
}
if((PINA.0==1&&!bk)||(PINA.0==0&&bk))//Right 5
{
motor(M2[0],M1[0]);
lcd_putsf("R5 ");
continue;
}
if((PINB.3==1&&!bk)||(PINB.3==0&&bk))//Left 4
{
motor(M1[1],M2[1]);
lcd_putsf("L4 ");
continue;
}
if((PINA.1==1&&!bk)||(PINA.1==0&&bk))//Right 4
{
motor(M2[1],M1[1]);
lcd_putsf("R4 ");
continue;
}
if((PINB.2==1&&!bk)||(PINB.2==0&&bk))//Left 3
{
motor(M1[2],M2[2]);
lcd_putsf("L3 ");
continue;
}
if((PINA.2==1&&!bk)||(PINA.2==0&&bk))//Right 3
{
motor(M2[2],M1[2]);
lcd_putsf("R3 ");
continue;
}
if((PINB.1==1&&!bk)||(PINB.1==0&&bk))//Left 2
{
motor(M1[3],M2[3]);
lcd_putsf("L2 ");
continue;
}
if((PINA.3==1&&!bk)||(PINA.3==0&&bk))//Right 2
{
motor(M2[3],M1[3]);
lcd_putsf("R2 ");
continue;
}
if((PINB.0==1&&!bk)||(PINB.0==0&&bk))//Left 1
{
motor(M1[4],M2[4]);
lcd_putsf("L1 ");
continue;
}
if((PINA.4==1&&!bk)||(PINA.4==0&&bk))//Right 1
{
motor(M2[4],M1[4]);
lcd_putsf("R1 ");
continue;
}
}
}
if(PINB.7==1)
{lcd_gotoxy(3,0);
lcd_putsf("!NO LCD!");
while(1)
{
if(PINB.7==0)
goto str;
if((PINA.5==0&&PINA.4==0&&PINB.0==0)||(PINA.5==0&&PINA.4==0&&PINB.0==1)||(PINA.5==0&&PINB.0==0&&PINA.4==1))
{
if((PINB.5==1&&PINB.6==1)&&bk==0)
{
while(1)
{motor(200,200);
if(PINB.4==1&&PINA.0==1)
goto dbin;
}
dbin:
bk=1;
}
if((PINB.5==1||PINB.6==1||(PINB.5==1&&PINB.6==1))&&bk==1)
bk=1;
//////////////////\\\\\\\\\\\\\\\\\\\\\
if((PINB.5==0&&PINB.6==0)&&bk==1)
{
while(1)
{motor(200,200);
if(PINB.4==0&&PINA.0==0)
goto bine;
z++;
if(z>10000)
goto bin;
}
bine:
z=0;
bk=0;
}
//////////////////\\\\\\\\\\\\\\\\\\\\\\
if((PINB.5==0||PINB.6==0||(PINB.5==0&&PINB.6==0))&&bk==0)
bk=0;
}
//lcd_gotoxy(14,0);
/*if(bk==1)lcd_putsf("B");
if(bk==0)lcd_putsf("W");*/
/*if((PINA.5+PINA.3+PINA.4+PINB.0+PINB.1<3&&bk==0)||bk==1)
{
if((PINB.5==1&&PINB.6==1)&&bk==0)
{l++;
z=0;
}
if(((PINB.5==0&&PINB.6==0)||(PINB.5==0)||(PINB.6==0))&&bk==1)
{z++;
l=0;
}
if(l>25)
bk=1;
if(z>5)
bk=0;
}
if(bk==1)lcd_putsf("(B)");
if(bk==0)lcd_putsf("(W)");*/
/////////////////\\\\\\\\\\\\\\\\\\\\\
if(PINA.7==1&&j==1)
{
h++;
k=0;
}
if(PINA.7==0)
h=0;
if(PINA.6==1&&j==1)
{
k++;
h=0;
}
if(PINA.6==0)
k=0;
//lcd_gotoxy(14,1);
if(h>25)
{
//lcd_putsf("L");
j=0.50;
}
if(k>10)
{
//lcd_putsf("H");
j=1.275;
}
if(k<10&&h<25)
{//lcd_gotoxy(13,1);
//lcd_putsf("M");
j=1.0;
}
/////////////////////\\\\\\\\\\\\\\\\\\\\\\\
//lcd_gotoxy(0,0);
lcd_putchar(PINB.4+'0');
lcd_putchar(PINB.3+'0');
lcd_putchar(PINB.2+'0');
lcd_putchar(PINB.1+'0');
lcd_putchar(PINB.0+'0');
lcd_putchar(PINA.5+'0');
lcd_putchar(PINA.4+'0');
lcd_putchar(PINA.3+'0');
lcd_putchar(PINA.2+'0');
lcd_putchar(PINA.1+'0');
lcd_putchar(PINA.0+'0');
lcd_gotoxy(11,1);
lcd_putchar(PINB.5+'0');
lcd_putchar(PINB.6+'0');
///////////////////\\\\\\\\\\\\\\\\\\\\\\\\\\
//lcd_gotoxy(3,1);
if((PINA.5==1&&PINA.4+PINA.3+PINA.2+PINA.1+PINA.0>=3&&PINB.4+PINB.3+PINB.2+PINB.1+PINB.0<=1&&!bk)||(PINA.5==1&&PINB.4==1&&!bk))
{
motor(M2[0],M1[0]);
//lcd_putsf("R60");
delay_ms(200);
continue;
}
if((PINA.5==1&&PINA.4+PINA.3+PINA.2+PINA.1+PINA.0<=1&&PINB.4+PINB.3+PINB.2+PINB.1+PINB.0>=3&&!bk)||(PINA.5==1&&PINA.0==1&&!bk))
{
motor(M1[0],M2[0]);
//lcd_putsf("L60 ");
delay_ms(200);
continue;
}
if((PINA.5==1&&!bk)||(PINA.5==0&&bk))//Straight
{
motor(200,200);
//lcd_putsf("S ");
delay_ms(10);
continue;
}
if((PINB.4==1&&!bk)||(PINB.4==0&&bk))//Left 5
{
motor(M1[0],M2[0]);
//lcd_putsf("L5 ");
continue;
}
if((PINA.0==1&&!bk)||(PINA.0==0&&bk))//Right 5
{
motor(M2[0],M1[0]);
//lcd_putsf("R5 ");
continue;
}
if((PINB.3==1&&!bk)||(PINB.3==0&&bk))//Left 4
{
motor(M1[1],M2[1]);
//lcd_putsf("L4 ");
continue;
}
if((PINA.1==1&&!bk)||(PINA.1==0&&bk))//Right 4
{
motor(M2[1],M1[1]);
//lcd_putsf("R4 ");
continue;
}
if((PINB.2==1&&!bk)||(PINB.2==0&&bk))//Left 3
{
motor(M1[2],M2[2]);
//lcd_putsf("L3 ");
continue;
}
if((PINA.2==1&&!bk)||(PINA.2==0&&bk))//Right 3
{
motor(M2[2],M1[2]);
//lcd_putsf("R3 ");
continue;
}
if((PINB.1==1&&!bk)||(PINB.1==0&&bk))//Left 2
{
motor(M1[3],M2[3]);
//lcd_putsf("L2 ");
continue;
}
if((PINA.3==1&&!bk)||(PINA.3==0&&bk))//Right 2
{
motor(M2[3],M1[3]);
//lcd_putsf("R2 ");
continue;
}
if((PINB.0==1&&!bk)||(PINB.0==0&&bk))//Left 1
{
motor(M1[4],M2[4]);
//lcd_putsf("L1 ");
continue;
}
if((PINA.4==1&&!bk)||(PINA.4==0&&bk))//Right 1
{
motor(M2[4],M1[4]);
//lcd_putsf("R1 ");
continue;
}
}
}
};
}
دیدگاه