#include <mega16a.h>
#include <delay.h>
// Alphanumeric LCD functions
#include <alcd.h>
int speed=0;
int stop;
int buff1 = 0;
int buff2 = 0;
// Declare your global variables here
void Servo_Init(char numb,int angle_1,int angle_2)
{
if((buff1== angle_1) && (buff2== angle_2)) stop=1;
else stop=0;
buff1 = angle_1; // store pre value
buff2 = angle_2; // store pre value
angle_1 = angle_1*(933/89) + 800 ; // change degree to value for servo
angle_2 = angle_2*(933/89) + 800 ; // change degree to value for servo
switch (numb)
{
case 1 :
if(angle_2== angle_1)
{
if((OCR1B>=angle_1))
{
for (speed=OCR1B;speed>=angle_1;speed--)
{
OCR1B=speed;
delay_ms(2);
}
}
else
{
for (speed=OCR1B;speed<=angle_1;speed++)
{
OCR1B=speed;
delay_ms(2);
}
}
}
else
{
if(stop ==0 )
{
if(angle_1>angle_2)
{
if((OCR1B>=angle_1))
{
for (speed=OCR1B;speed>=angle_1;speed--)
{
OCR1B=speed;
delay_ms(2);
}
}
else
{
for (speed=OCR1B;speed<=angle_1;speed++)
{
OCR1B=speed;
delay_ms(2);
}
}
for (speed=angle_1;speed>=angle_2;speed--)
{
OCR1B=speed;
delay_ms(2);
}
}
if(angle_2>angle_1)
{
if((OCR1B>=angle_1))
{
for (speed=OCR1B;speed>=angle_1;speed--)
{
OCR1B=speed;
delay_ms(2);
}
}
else
{
for (speed=OCR1B;speed<=angle_1;speed++)
{
OCR1B=speed;
delay_ms(2);
}
}
for (speed=angle_1;speed<=angle_2;speed++)
{
OCR1B=speed;
delay_ms(2);
}
}
}
}
break;
}
}
void main(void)
{
// Declare your local variables here
// Input/Output Ports initialization
// Port A initialization
// Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In
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) | (0<<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=(0<<DDC7) | (0<<DDC6) | (0<<DDC5) | (0<<DDC4) | (0<<DDC3) | (0<<DDC2) | (0<<DDC1) | (0<<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) | (0<<PORTC1) | (0<<PORTC0);
// Port D initialization
// Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In
DDRD=(0<<DDD7) | (0<<DDD6) | (0<<DDD5) | (0<<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) | (0<<PORTD6) | (0<<PORTD5) | (0<<PORTD4) | (0<<PORTD3) | (0<<PORTD2) | (0<<PORTD1) | (0<<PORTD0);
// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 2000.000 kHz
// Mode: Ph. & fr. cor. PWM top=ICR1
// OC1A output: Disconnected
// OC1B output: Non-Inverted PWM
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer Period: 20 ms
// Output Pulse(s):
// OC1B Period: 20 ms Width: 2.6 ms
// Timer1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=(0<<COM1A1) | (0<<COM1A0) | (1<<COM1B1) | (0<<COM1B0) | (0<<WGM11) | (0<<WGM10);
TCCR1B=(0<<ICNC1) | (0<<ICES1) | (1<<WGM13) | (0<<WGM12) | (0<<CS12) | (1<<CS11) | (0<<CS10);
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x4E;
ICR1L=0x20;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x06;
OCR1BL=0x40;
// 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_clear();
lcd_putsf( " HI Wellcom " ) ;
lcd_gotoxy( 0 , 1 );
lcd_putsf( "TO REDRONIC.COM" ) ;
delay_ms(2000);
#asm("sei")
while (1)
{
Servo_Init(1,90,90); //set sevo at 90 degree point
delay_ms(2000);
Servo_Init(1,1,1); //set sevo at 1 degree point
delay_ms(2000);
Servo_Init(1,180,180); //set sevo at 180 degree point
delay_ms(2000);
Servo_Init(1,180,0);
delay_ms(2000); //command servo to move from 180 degree to 0
}
}