Komponen :
Servo : 2x Servo
Sensor : Ping )))
uController : ATMEGA8535-16PU
Plan : Here
Program V1. Ping inactive //**********************************************************************// //-----------------------------Roni Andria------------------27-oct-2012-// //**********************************************************************// #include #include #define servo1 PORTB.0 #define servo2 PORTB.1 #define propeler1 PORTB.3 #define propeler2 PORTB.4 #define propeler3 PORTB.5 #define switch1 PINA.0 #define switch2 PINA.1 // mendeklarsikan global variables char i,j,k,l,p,s; // instruksi servo void center1(char j) // center { for(i=0;i { servo1=1; delay_us(1500); servo1=0; delay_ms(20); } } void full_cw1(char j) //rotate 180 degree CW { for(i=0;i { servo1=1; delay_us(2400); servo1=0; delay_ms(20); } } void full_ccw1(char j) //rotate180 degree CCW { for(i=0;i { servo1=1; delay_us(600); servo1=0; delay_ms(20); } } // end perintah void center2(char l) // center { for(k=0;k { servo2=1; delay_us(1500); servo2=0; delay_ms(20); } } void full_cw2(char l) //rotate 180 degree CW { for(k=0;k { servo2=1; delay_us(2400); servo2=0; delay_ms(20); } } void full_ccw2(char l) //rotate180 degree CCW { for(k=0;k { servo2=1; delay_us(600); servo2=0; delay_ms(20); } } // untuk dua servo bersamaan void center(char j) // center { for(i=0;i { servo1=1; servo2=1; delay_us(1500); servo1=0; servo2=0; delay_ms(20); } } void full_cw(char j) //rotate 180 degree CW { for(i=0;i { servo1=1; servo2=1; delay_us(2400); servo1=0; servo2=0; delay_ms(20); } } void full_ccw(char j) //rotate180 degree CCW { for(i=0;i { servo1=1; servo2=1; delay_us(600); servo1=0; servo2=0; delay_ms(20); } } void main(void) { PORTB=0x00; //set PORTB 0 DDRB=0x3B; //PORTB as output DDRA = 0x00; //Port C sebagai input //PORTA.0 = 1; //mengaktifkan pull up //PORTA.1 = 1; //hanya 2 pin pertama port A //inisialisasi posisikan ke tengah center1(5); center2(5); delay_ms(50); while(1) { // 1 = ekor // 2 = kepala //delay_ms(50); full_ccw1(3); full_cw2(3); // //delay_ms(50); //delay_ms(50); full_cw1(3); full_ccw2(3); //delay_ms(50); center1(5); center2(5); //delay_ms(50); full_cw1(3); full_ccw2(3); // //delay_ms(50); //delay_ms(50); full_ccw1(3); full_cw2(3); //delay_ms(50); center1(5); center2(5); }; }
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