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Robot_Base.c
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Robot_Base.c
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#include <XC.h>
#include <sys/attribs.h>
#include <stdio.h>
#include <stdlib.h>
// Configuration Bits (somehow XC32 takes care of this)
#pragma config FNOSC = FRCPLL // Internal Fast RC oscillator (8 MHz) w/ PLL
#pragma config FPLLIDIV = DIV_2 // Divide FRC before PLL (now 4 MHz)
#pragma config FPLLMUL = MUL_20 // PLL Multiply (now 80 MHz)
#pragma config FPLLODIV = DIV_2 // Divide After PLL (now 40 MHz)
#pragma config FWDTEN = OFF // Watchdog Timer Disabled
#pragma config FPBDIV = DIV_1 // PBCLK = SYCLK
#pragma config FSOSCEN = OFF // Turn off secondary oscillator on A4 and B4
// Defines
#define SYSCLK 40000000L
#define FREQ 100000L // We need the ISR for timer 1 every 10 us
#define Baud2BRG(desired_baud)( (SYSCLK / (16*desired_baud))-1)
volatile int ISR_pwm1=150, ISR_pwm2=150, ISR_cnt=0;
// The Interrupt Service Routine for timer 1 is used to generate one or more standard
// hobby servo signals. The servo signal has a fixed period of 20ms and a pulse width
// between 0.6ms and 2.4ms.
void __ISR(_TIMER_1_VECTOR, IPL5SOFT) Timer1_Handler(void)
{
IFS0CLR=_IFS0_T1IF_MASK; // Clear timer 1 interrupt flag, bit 4 of IFS0
ISR_cnt++;
if(ISR_cnt==ISR_pwm1)
{
LATAbits.LATA3 = 0;
}
if(ISR_cnt==ISR_pwm2)
{
LATBbits.LATB4 = 0;
}
if(ISR_cnt>=2000)
{
ISR_cnt=0; // 2000 * 10us=20ms
LATAbits.LATA3 = 1;
LATBbits.LATB4 = 1;
}
}
void SetupTimer1 (void)
{
// Explanation here: https://www.youtube.com/watch?v=bu6TTZHnMPY
__builtin_disable_interrupts();
PR1 =(SYSCLK/FREQ)-1; // since SYSCLK/FREQ = PS*(PR1+1)
TMR1 = 0;
T1CONbits.TCKPS = 0; // 3=1:256 prescale value, 2=1:64 prescale value, 1=1:8 prescale value, 0=1:1 prescale value
T1CONbits.TCS = 0; // Clock source
T1CONbits.ON = 1;
IPC1bits.T1IP = 5;
IPC1bits.T1IS = 0;
IFS0bits.T1IF = 0;
IEC0bits.T1IE = 1;
INTCONbits.MVEC = 1; //Int multi-vector
__builtin_enable_interrupts();
}
// Use the core timer to wait for 1 ms.
void wait_1ms(void)
{
unsigned int ui;
_CP0_SET_COUNT(0); // resets the core timer count
// get the core timer count
while ( _CP0_GET_COUNT() < (SYSCLK/(2*1000)) );
}
void waitms(int len)
{
while(len--) wait_1ms();
}
#define PIN_PERIOD (PORTB&(1<<5))
// GetPeriod() seems to work fine for frequencies between 200Hz and 700kHz.
long int GetPeriod (int n)
{
int i;
unsigned int saved_TCNT1a, saved_TCNT1b;
_CP0_SET_COUNT(0); // resets the core timer count
while (PIN_PERIOD!=0) // Wait for square wave to be 0
{
if(_CP0_GET_COUNT() > (SYSCLK/4)) return 0;
}
_CP0_SET_COUNT(0); // resets the core timer count
while (PIN_PERIOD==0) // Wait for square wave to be 1
{
if(_CP0_GET_COUNT() > (SYSCLK/4)) return 0;
}
_CP0_SET_COUNT(0); // resets the core timer count
for(i=0; i<n; i++) // Measure the time of 'n' periods
{
while (PIN_PERIOD!=0) // Wait for square wave to be 0
{
if(_CP0_GET_COUNT() > (SYSCLK/4)) return 0;
}
while (PIN_PERIOD==0) // Wait for square wave to be 1
{
if(_CP0_GET_COUNT() > (SYSCLK/4)) return 0;
}
}
return _CP0_GET_COUNT();
}
void UART2Configure(int baud_rate)
{
// Peripheral Pin Select
U2RXRbits.U2RXR = 4; //SET RX to RB8
RPB9Rbits.RPB9R = 2; //SET RB9 to TX
U2MODE = 0; // disable autobaud, TX and RX enabled only, 8N1, idle=HIGH
U2STA = 0x1400; // enable TX and RX
U2BRG = Baud2BRG(baud_rate); // U2BRG = (FPb / (16*baud)) - 1
U2MODESET = 0x8000; // enable UART2
}
void uart_puts(char * s)
{
while(*s)
{
putchar(*s);
s++;
}
}
char HexDigit[]="0123456789ABCDEF";
void PrintNumber(long int val, int Base, int digits)
{
int j;
#define NBITS 32
char buff[NBITS+1];
buff[NBITS]=0;
j=NBITS-1;
while ( (val>0) | (digits>0) )
{
buff[j--]=HexDigit[val%Base];
val/=Base;
if(digits!=0) digits--;
}
uart_puts(&buff[j+1]);
}
// Good information about ADC in PIC32 found here:
// http://umassamherstm5.org/tech-tutorials/pic32-tutorials/pic32mx220-tutorials/adc
void ADCConf(void)
{
AD1CON1CLR = 0x8000; // disable ADC before configuration
AD1CON1 = 0x00E0; // internal counter ends sampling and starts conversion (auto-convert), manual sample
AD1CON2 = 0; // AD1CON2<15:13> set voltage reference to pins AVSS/AVDD
AD1CON3 = 0x0f01; // TAD = 4*TPB, acquisition time = 15*TAD
AD1CON1SET=0x8000; // Enable ADC
}
int ADCRead(char analogPIN)
{
AD1CHS = analogPIN << 16; // AD1CHS<16:19> controls which analog pin goes to the ADC
AD1CON1bits.SAMP = 1; // Begin sampling
while(AD1CON1bits.SAMP); // wait until acquisition is done
while(!AD1CON1bits.DONE); // wait until conversion done
return ADC1BUF0; // result stored in ADC1BUF0
}
void ConfigurePins(void)
{
// Configure pins as analog inputs
ANSELBbits.ANSB2 = 1; // set RB2 (AN4, pin 6 of DIP28) as analog pin
TRISBbits.TRISB2 = 1; // set RB2 as an input
ANSELBbits.ANSB3 = 1; // set RB3 (AN5, pin 7 of DIP28) as analog pin
TRISBbits.TRISB3 = 1; // set RB3 as an input
// Configure digital input pin to measure signal period
ANSELB &= ~(1<<5); // Set RB5 as a digital I/O (pin 14 of DIP28)
TRISB |= (1<<5); // configure pin RB5 as input
CNPUB |= (1<<5); // Enable pull-up resistor for RB5
// Configure output pins
TRISAbits.TRISA0 = 0; // pin 2 of DIP28
TRISAbits.TRISA1 = 0; // pin 3 of DIP28
TRISBbits.TRISB0 = 0; // pin 4 of DIP28
TRISBbits.TRISB1 = 0; // pin 5 of DIP28
TRISAbits.TRISA2 = 0; // pin 9 of DIP28
TRISAbits.TRISA3 = 0; // pin 10 of DIP28
TRISBbits.TRISB4 = 0; // pin 11 of DIP28
INTCONbits.MVEC = 1;
}
// In order to keep this as nimble as possible, avoid
// using floating point or printf() on any of its forms!
void main(void)
{
volatile unsigned long t=0;
int adcval1,adcval2;
long int v1,v2;
unsigned long int count, f;
//unsigned char LED_toggle=0;
CFGCON = 0;
UART2Configure(115200); // Configure UART2 for a baud rate of 115200
ConfigurePins();
SetupTimer1();
ADCConf(); // Configure ADC
waitms(500); // Give PuTTY time to start
/*uart_puts("\x1b[2J\x1b[1;1H"); // Clear screen using ANSI escape sequence.
uart_puts("\r\nPIC32 multi I/O example.\r\n");
uart_puts("Measures the voltage at channels 4 and 5 (pins 6 and 7 of DIP28 package)\r\n");
uart_puts("Measures period on RB5 (pin 14 of DIP28 package)\r\n");
uart_puts("Toggles RA0, RA1, RB0, RB1, RA2 (pins 2, 3, 4, 5, 9, of DIP28 package)\r\n");
uart_puts("Generates Servo PWM signals at RA3, RB4 (pins 10, 11 of DIP28 package)\r\n\r\n");
*/
while(1)
{
// 车往前走 motor
LATAbits.LATA0 = 1;
LATAbits.LATA1 = 0;
LATBbits.LATB0 = 0;
LATBbits.LATB1 = 1;
//LATAbits.LATA2 = 0;
// 测硬币的f pin14
count=GetPeriod(100);
if(count>0)
{
f=((SYSCLK/2L)*100L)/count;
uart_puts("f=");
PrintNumber(f, 10, 7);
uart_puts("Hz, count=");
PrintNumber(count, 10, 6);
uart_puts(" \r");
}
else
{
uart_puts("NO SIGNAL \r");
}
//边界电压1 pin6 //连侧边的那个电感 因为探测与它方向垂直的边界、
adcval1 = ADCRead(4); // note that we call pin AN4 (RB2) by it's analog number
uart_puts("ADC[4]=0x");
PrintNumber(adcval1, 16, 3);
uart_puts(", V=");
v1=(adcval1*3290L)/1023L; // 3.290 is VDD
PrintNumber(v1/1000, 10, 1);
uart_puts(".");
PrintNumber(v1%1000, 10, 3);
uart_puts("V ");
//边界电压2 pin7
/*adcval2=ADCRead(5);
uart_puts("ADC[5]=0x");
PrintNumber(adcval2, 16, 3);
uart_puts(", V=");
v2=(adcval2*3290L)/1023L; // 3.290 is VDD
PrintNumber(v2/1000, 10, 1);
uart_puts(".");
PrintNumber(v2%1000, 10, 3);
uart_puts("V ");
*/
//转
if(v1>0.5){
LATAbits.LATA0 = 0;
LATAbits.LATA1 = 1;
LATBbits.LATB0 = 0;
LATBbits.LATB1 = 1; //reverse way
waitms(100);//a little
LATAbits.LATA0 = 0;
LATAbits.LATA1 = 1;
LATBbits.LATB0 = 0;
LATBbits.LATB1 = 1; //turn right
waitms(rand);//turn random degree
}
//while(v1>0|v2>0|(f>56500&f<57500){
//转弯情况1 pin6>0.5
/* if(v1>0.5){
//车转弯 待改数
LATAbits.LATA0 = 0;
LATAbits.LATA1 = 0;
LATBbits.LATB0 = 0;
LATBbits.LATB1 = 1;
waitms(1000);
//LATAbits.LATA2 = 0;
}
//转弯情况2 pin7>0.5
if(v2>0.5){
//车转弯 待改数
LATAbits.LATA0 = 1;
LATAbits.LATA1 = 0;
LATBbits.LATB0 = 0;
LATBbits.LATB1 = 0;
waitms(1000);
//LATAbits.LATA2 = 0;
}
//转弯情况3 pin6>0 pin7>0
if(v1>0.5&v2>0.5){
//车转弯 待改数
LATAbits.LATA0 = 0;
LATAbits.LATA1 = 0;
LATBbits.LATB0 = 0;
LATBbits.LATB1 = 1;
waitms(1000);
//LATAbits.LATA2 = 0;
}*/
//有硬币,捡起来
if(f>56500&f<57500){
//倒车 待改
LATAbits.LATA0 = 0;
LATAbits.LATA1 = 0;
LATBbits.LATB0 = 0;
LATBbits.LATB1 = 0;
waitms(100); //倒多长时间才能正好捡到硬币 待测
LATAbits.LATA2 = 1; //捡起来之前通磁//pin可能不是这个
//车停
LATAbits.LATA0 = 0;
LATAbits.LATA1 = 0;
LATBbits.LATB0 = 0;
LATBbits.LATB1 = 0;
//把arm转过去把硬币捡起来并且转到盒子那里 pwm1.2值待改:怎么捡
ISR_pwm1=200 ;
waitms(100);
ISR_pwm1=50;
waitms(100);
ISR_pwm2=70;
waitms(100);
ISR_pwm2=220;
waitms(100);
LATAbits.LATA2 = 0; //转回去之后消磁 放下去 //pin可能不是这个
//车继续往前走
LATAbits.LATA0 = 1;
LATAbits.LATA1 = 0;
LATBbits.LATB0 = 0;
LATBbits.LATB1 = 1;
}
// Now turn on one of the outputs per loop cycle to check
/*switch (LED_toggle++)
{
case 0:
LATAbits.LATA0 = 1;
break;
case 1:
LATAbits.LATA1 = 1;
break;
case 2:
LATBbits.LATB0 = 1;
break;
case 3:
LATBbits.LATB1 = 1;
break;
case 4:
LATAbits.LATA2 = 1;
break;
default:
break;
}
if(LED_toggle>4) LED_toggle=0;
*/
//waitms(200);
}
}