Code-On: 2019

This is used for an RC racing light tree. It stays red until you push the button, then stays yellow for 1-3 seconds (randomly), then flashes all colors twice, then stays green until you push the button. Weak pull-ups are enabled on pin 5 for the button.

/*
* File: RaceLightsMain.c
* Author: hmikelson
*
* Created on June 14, 2019, 1:26 PM
*/

#if defined(__XC)
#include <xc.h> /* XC8 General Include File */
#elif defined(HI_TECH_C)
#include <htc.h> /* HiTech General Include File */
#endif

#include <stdint.h> /* For uint8_t definition */
#include <stdbool.h> /* For true/false definition */
#include <stdlib.h> /*rand()*/

#pragma config MCLRE=OFF,CP=OFF,WDTE=OFF,FOSC=INTOSCIO
#define _XTAL_FREQ 4000000
uint8_t sGPIO;

void init()
{
//Configure GPIO Port
ANSEL = 0b00000000; //Configure all GPIO pins as digital
TRISIO = 0b11101000; //Set GP3 & 5 as input and the rest as outputs
OPTION_REGbits.nGPPU = 0;
WPU = 0b00100000; //Enable weak pullups on GP5
//Configuer AD Convertor
ADCON0 = 0x00; //AD disabled
ADRESH = 0x00; //Init the AD Register
//Configure Comparator
CMCON0 = 0xFF; // Comparator is turned off
CMCON1 = 0x00; // Comparator is turned off
//Interrupt configuration
INTCON = 0x00; //Disable all interrupts
}

void vdelay(int n)
{
int i;
for (i=0;i<=n;i++)
{
__delay_ms(150);
}
}

void main()
{
uint8_t r, db_cnt;

init();
GPIO = 0b00000001;
__delay_ms(100);
GPIO = 0b00000010;
__delay_ms(100);
GPIO = 0b00000100;
__delay_ms(100);
GPIO = 0b00000000;
while(1)
{
GPIO = 0b00000001;
__delay_ms(200);
for (db_cnt = 0; db_cnt <= 10; db_cnt++)
{
__delay_ms(10);
if (GPIObits.GP5 == 1)
db_cnt = 0;
}
GPIO = 0b00000010;
r = rand()%15;
__delay_ms(250);
vdelay(r);
__delay_ms(250);
GPIO = 0b00000001;
__delay_ms(50);
GPIO = 0b00000010;
__delay_ms(50);
GPIO = 0b00000100;
__delay_ms(50);
GPIO = 0b00000001;
__delay_ms(50);
GPIO = 0b00000010;
__delay_ms(50);
GPIO = 0b00000100;
__delay_ms(50);
GPIO = 0b00000100;
__delay_ms(200);
for (db_cnt = 0; db_cnt <= 10; db_cnt++)
{
__delay_ms(10);
if (GPIObits.GP5 == 1)
db_cnt = 0;
}
}
}

Code for autonomous robot with PIR motion detection and ultrasound distance sensor. Distance sensing decreases the chance of the robot getting stuck. Robot also plays sounds while moving.

/*
* File: BackupBotMain.c
* Author: hmikelson
*
* Created on January 12, 2019, 11:32 AM
*
* This program is used to control a robot with PIC16f1825 microcontroller
* Uses a customized circuit board with a 1 watt amplified speaker
* high intensity LED
* Ultrasound sensor, and PIR sensor
* Two motors: Forward, backward, right, left, stop
* 6V battery power
* Gear driven wheels
*/

#include <xc.h>
#include <stdio.h>
#include <stdlib.h>

#pragma config MCLRE=OFF,CP=OFF,WDTE=OFF,FOSC=INTOSC
#define _XTAL_FREQ 16000000
unsigned char sPORTA=0b00000000, sPORTC=0b00000000, pwmax=63;

void init()
{
//Configure GPIO Port
//RA0=BI2,RA1=BI1,RA2=Stby,RC0=AI1,RC1=AI2,RC2=PWMA&B
//RC3=PIR,RC4=Trig,RC5=Echo,RA3=NA,RA4=Audio,RA5=LED
//ANSELC= 0b00000000; //Must disable analog inputs to read digital in
TRISA = 0b11000000; //O=all
TRISC = 0b11101000; //I=3,5
OSCCONbits.IRCF = 0b1111;
OSCCONbits.SCS = 0b00;
//Enable analog input on C3
ANSELCbits.ANSC3 = 1;
ADCON0 = 0b00011101; //Channel (CHS4:0 bits 6-2),ADON bit 1 enable Analog
ADCON1bits.ADCS = 0b111; // clock select dedicated osc
ADCON1bits.ADNREF = 0; //neg ref
ADCON1bits.ADPREF = 0; //config + voltage with vdd
ADCON1bits.ADFM = 1; //format left justified
ADRESH = 0x00; //Init the AD Register
}

void vdelay(int n)
{
int i;
for (i=0;i<=n;i++)
{
__delay_us(5);
}
}

// Read voltage from input
int read_v()
{
int val,v1,v2;
__delay_ms(1);
ADCON0bits.GO_nDONE = 1;
while(ADCON0bits.GO_nDONE == 1);
return (ADRESH<<8) + ADRESL;
}

/*
* Get distance from ultra sound sensor
* Sensor on pins C4 Trig, C5 Echo
*
*/
int getdist()
{
int i=0;
sPORTC = sPORTC & 0b11101111;
PORTC = sPORTC;
__delay_us(40);
sPORTC = sPORTC | 0b00010000;
PORTC = sPORTC;
__delay_us(10);
sPORTC = sPORTC & 0b11101111;
PORTC = sPORTC;
while((PORTCbits.RC5 == 0) && (i<5000)) //Wait but not forever
{
i++;
}
i=0;
while ((PORTCbits.RC5 == 1) && (i<1000)) //Wait but not forever
{
i++;
}
return i;
}

// Drive robot forward
void RobotFd(int time, unsigned char speed)
{
int i, j;
for (i=0;i<time;i++)
{
for (j=0;j<pwmax;j++)
{
if (j<speed)
{
PORTA = 0b00111110; // LED,Aud,MCLR,En,BI2,BI1
sPORTC=0b00000110 | sPORTC;
sPORTC=0b11111110 & sPORTC;
PORTC = sPORTC; // Eco,Trg,PIR,PWM,AI1,AI2
vdelay(pwmax/speed);
}
else
{
PORTA = 0b00000110;
sPORTC = 0b00000010 | sPORTC;
sPORTC = 0b11111010 & sPORTC;
PORTC = sPORTC;
vdelay(pwmax/speed);
}
}
}
}

// Move Robot backward
void RobotBk(int time, unsigned char speed)
{
int i, j;
for (i=0;i<time;i++)
{
for (j=0;j<pwmax;j++)
{
if (j<speed)
{
PORTA = 0b00111101;
sPORTC = 0b00000101 | sPORTC;
sPORTC = 0b11111101 & sPORTC;
PORTC = sPORTC;
vdelay(pwmax/speed);
}
else
{
PORTA = 0b00000101;
sPORTC = 0b00000001 | sPORTC;
sPORTC = 0b11111001 & sPORTC;
PORTC = sPORTC;
vdelay(pwmax/speed);
}
}
}
}

// Move the robot right for time at speed.
void RobotRt(int time, unsigned char speed)
{
int i, j;
for (i=0;i<time;i++)
{
for (j=0;j<pwmax;j++)
{
if (j<speed)
{
PORTA = 0b00111110;
sPORTC = 0b00000101 | sPORTC;
sPORTC = 0b11110101 & sPORTC;
PORTC = sPORTC;
vdelay(pwmax/speed);
}
else
{
PORTA = 0b00000110;
sPORTC = 0b00000001 | sPORTC;
sPORTC = 0b11111001 & sPORTC;
PORTC = sPORTC;
vdelay(pwmax/speed);
}
}
}
}

//Move the Robot Left for given time and speed.
void RobotLt(int time, unsigned char speed)
{
int i, j;
for (i=0;i<time;i++)
{
for (j=0;j<pwmax;j++)
{
if (j<speed)
{
PORTA = 0b00111101;
sPORTC = 0b00000110 | sPORTC;
sPORTC = 0b11111110 & sPORTC;
PORTC = sPORTC;
vdelay(pwmax/speed);
}
else
{
PORTA = 0b00000101;
sPORTC = 0b00000010 | sPORTC;
sPORTC = 0b11111010 & sPORTC;
PORTC = sPORTC;
vdelay(pwmax/speed);
}
}
}
}

// Robot stops for the given amount of time
void RobotSt(int time)
{
int i;
for (i=0;i<time;i++)
{
PORTA = 0b00000100;
sPORTC = 0b00000100 | sPORTC;
sPORTC = 0b11111100 & sPORTC;
PORTC = sPORTC;
__delay_ms(10);
}

}

void main()
{
int mt=100,dist=1000,i;
unsigned char rspeed, raction, rtime, nacts=30, pir;
init();

RobotFd(200,pwmax/1.5);
RobotRt(200,pwmax/1.5);
RobotBk(200,pwmax/1.5);
RobotLt(200,pwmax/1.5);
while(1)
{
while (nacts==0)
{
RobotSt(200);
pir = read_v();
if (pir>50)
{
nacts = 30;
}
}
dist = getdist();
if (dist<300)
{
RobotBk(mt,pwmax/2);
RobotRt(mt,pwmax/2);
}
else
{
RobotFd(mt,pwmax/2);
}
nacts = nacts - 1;
raction=(rand() % 5);
rtime=(rand() % mt)/2+mt/2;
rspeed=pwmax/((rand() % 15)+1)+pwmax/5;
switch (raction)
{
case 1:
RobotFd(rtime,rspeed);
break;
case 2:
RobotBk(rtime,rspeed);
break;
case 3:
RobotLt(rtime,rspeed);
break;
case 4:
RobotRt(rtime,rspeed);
break;
default:
RobotSt(rtime);
break;
}
}
}

Code-On

Friday, June 14, 2019

Race Lights

Sunday, March 3, 2019

Back Up Robot