#include <mega16a.h>
#define FORWARD 1
#define BACKWARD 0
#define START 1
#define STOP 0
// Alphanumeric LCD functions
#include <alcd.h>
#include <delay.h>
// Declare your global variables here
void DC_Motor_Run(int numb,int ena ,int speed ,int way )
{
if (speed<=80) speed=80;
if (speed>=255) speed=255;
if(numb==1)
{
if (way==BACKWARD)
{
PORTD.5=0; // FORWARD
PORTC.0=1;
}
if (way==FORWARD)
{
PORTD.5=1;
PORTC.0=0;
}
if(ena==START)
{
OCR2 = speed;
}
if(ena==STOP)
{
OCR2 =0;
}
}
//case 2 :
if(numb==2)
{
if (way==BACKWARD)
{
PORTD.6=1;
PORTC.1=0;
}
if (way==FORWARD)
{
PORTD.6=0;
PORTC.1=1;
}
if(ena==START)
{
OCR0 = speed;
}
if(ena==STOP)
{
OCR0 =0;
}
}
}
void Turn_Right(void)
{
DC_Motor_Run(2,START ,170 ,FORWARD );
DC_Motor_Run(1,STOP ,170 ,FORWARD );
delay_ms(1200);
DC_Motor_Run(2,STOP ,170 ,FORWARD );
DC_Motor_Run(1,STOP ,170 ,FORWARD );
}
void Turn_Left(void)
{
DC_Motor_Run(2,STOP ,170 ,FORWARD );
DC_Motor_Run(1,START ,170 ,FORWARD );
delay_ms(1200);
DC_Motor_Run(2,STOP ,170 ,FORWARD );
DC_Motor_Run(1,STOP ,170 ,FORWARD );
}
void main(void)
{
char spd = 120;
DDRA=(0<<DDA7) | (0<<DDA6) | (0<<DDA5) | (0<<DDA4) | (0<<DDA3) | (0<<DDA2) | (0<<DDA1) | (0<<DDA0);
// State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T
PORTA=(0<<PORTA7) | (0<<PORTA6) | (0<<PORTA5) | (0<<PORTA4) | (0<<PORTA3) | (0<<PORTA2) | (0<<PORTA1) | (0<<PORTA0);
// Port B initialization
// Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In
DDRB=(0<<DDB7) | (0<<DDB6) | (0<<DDB5) | (0<<DDB4) | (1<<DDB3) | (0<<DDB2) | (0<<DDB1) | (0<<DDB0);
// State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T
PORTB=(0<<PORTB7) | (0<<PORTB6) | (0<<PORTB5) | (0<<PORTB4) | (0<<PORTB3) | (0<<PORTB2) | (0<<PORTB1) | (0<<PORTB0);
// Port C initialization
// Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In
DDRC=(1<<DDC7) | (0<<DDC6) | (1<<DDC5) | (0<<DDC4) | (0<<DDC3) | (0<<DDC2) | (1<<DDC1) | (1<<DDC0);
// State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T
PORTC=(0<<PORTC7) | (0<<PORTC6) | (0<<PORTC5) | (0<<PORTC4) | (0<<PORTC3) | (0<<PORTC2) | (1<<PORTC1) | (1<<PORTC0);
// Port D initialization
// Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In
DDRD=(1<<DDD7) | (1<<DDD6) | (1<<DDD5) | (1<<DDD4) | (0<<DDD3) | (0<<DDD2) | (0<<DDD1) | (0<<DDD0);
// State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T
PORTD=(0<<PORTD7) | (1<<PORTD6) | (1<<PORTD5) | (0<<PORTD4) | (0<<PORTD3) | (0<<PORTD2) | (0<<PORTD1) | (0<<PORTD0);
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: 250.000 kHz
// Mode: Fast PWM top=0xFF
// OC0 output: Non-Inverted PWM
// Timer Period: 1.024 ms
// Output Pulse(s):
// OC0 Period: 1.024 ms Width: 0.51401 ms
TCCR0=(1<<WGM00) | (1<<COM01) | (0<<COM00) | (1<<WGM01) | (0<<CS02) | (1<<CS01) | (1<<CS00);
TCNT0=0x00;
OCR0=0x80;
// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: 250.000 kHz
// Mode: Fast PWM top=0xFF
// OC2 output: Non-Inverted PWM
// Timer Period: 1.024 ms
// Output Pulse(s):
// OC2 Period: 1.024 ms Width: 0.51401 ms
ASSR=0<<AS2;
TCCR2=(1<<PWM2) | (1<<COM21) | (0<<COM20) | (1<<CTC2) | (1<<CS22) | (0<<CS21) | (0<<CS20);
TCNT2=0x00;
OCR2=0x80;
// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=(0<<OCIE2) | (0<<TOIE2) | (0<<TICIE1) | (0<<OCIE1A) | (0<<OCIE1B) | (0<<TOIE1) | (0<<OCIE0) | (0<<TOIE0);
// Alphanumeric LCD initialization
// Connections are specified in the
// Project|Configure|C Compiler|Libraries|Alphanumeric LCD menu:
// RS - PORTB Bit 0
// RD - PORTB Bit 1
// EN - PORTB Bit 2
// D4 - PORTA Bit 4
// D5 - PORTA Bit 5
// D6 - PORTA Bit 6
// D7 - PORTA Bit 7
// Characters/line: 16
lcd_init(16);;
lcd_putsf( " HI Wellcom " ) ;
lcd_gotoxy( 0 , 1 );
lcd_putsf( "TO REDRONIC.COM" ) ;
delay_ms(2000);
//lcd_clear();
#asm("sei")
while (1)
{
DC_Motor_Run(1,START ,spd ,FORWARD ); // intialize DC motor1 with Speed Of spd in Forward Mode
DC_Motor_Run(2,START ,spd ,FORWARD ); // intialize DC motor2 with Speed Of spd in Forward Mode
delay_ms(2000);
DC_Motor_Run(1,STOP ,spd ,BACKWARD ); // stop DC motors
DC_Motor_Run(2,STOP ,spd ,BACKWARD ); // stop DC motors
delay_ms(2000);
DC_Motor_Run(1,START ,spd ,BACKWARD ); // intialize DC motor1 with Speed Of spd in Backward Mode
DC_Motor_Run(2,START ,spd ,BACKWARD ); // intialize DC motor1 with Speed Of spd in Backward Mode
delay_ms(2000);
Turn_Left();
delay_ms(2000);
Turn_Right();
delay_ms(2000);
}