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thaking
Joined: 22 Jan 2011
Posts: 25
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| Servo tester |
 Posted: Fri Mar 11, 2011 12:10 pm |
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Can anyone please help me with "translating" code from Basic into CCS
| Code: |
Device 16F877A
Config HS_OSC, WDT_OFF, PWRTE_OFF, LVP_OFF
ALL_DIGITAL TRUE
XTAL = 10
;LCD
Declare LCD_TYPE ALPHA
Declare LCD_LINES 4
Declare LCD_INTERFACE 4
Declare LCD_RSPIN PORTD.0
Declare LCD_ENPIN PORTD.1
Declare LCD_DTPIN PORTD.4
;ADC
;NOTE: the ADC will convert any input Raw between 0-5 V to a digital count between 0-1023 !!
Declare ADIN_RES 10 ;10-bit result required
Declare ADIN_TAD FRC ;Sampling rate
Declare ADIN_STIME 50 ;Allow 50us sample time
ADCON1 = %10001110 ;PORTA.0 (AN0) will be an analog ('A') input. All other PORTA ports will be digital I/O ('D').
;bit7: 1=Right justified 0=Left justified
;bits0-3: Specify pins to be used for A/D conversion. See PCF16F877A datasheet for more info.
;Global configuration
;ALL_DIGITAL TRUE ;All inputs digital
;PORTB_PULLUPS On ;Enable internal pullup resistors (no longer required as I am using PORTA for inputs)
TRISA = %11111111 ;0=output, 1=input. See 'Declare Symbols' for details.
TRISD = %00000000 ;PORTD is output for LCD display
Clear ;Erase RAM memory
;Declare Variables
Dim Raw As Word ;This variable contains a value from 0 to 1023 as digitized voltmeter value.
Dim Quanta As Float ;This variable contains a quantisizing value
Dim Volts As Float ;This variable contains a value from 0 to 5 to reflect the measured voltage.
Dim Position As Word ;This variable contains a value from 1000 to 2000 to drive the servo.
Dim Steps As Word ;This variable contains a value between 0 and 50 to control the sweep speed.
Dim Menu As Byte ;This variable indicates the active menu.
;Declare global Symbols
Symbol Out = PORTD.3 ;Port used to connect the servo.
Symbol BtnPrev = PORTA.2 ;Port used for the 'Previous' pushbutton (CURRENTLY NOT USED)
Symbol BtnNext = PORTA.3 ;Port used For the 'Next' pushbutton
GoTo Start
;Subroutines
Servo_center:
Servo Out, 1500 ;Send a pulse of 1,5mSec (=1500uSec) to servo (this will center the servo)
DelayMS 20 ;This will result in the pulse being transmitted 50x per second
Return
Servo_adc:
Raw = ADIn 0 ;Place the conversion into variable Raw
;The ADC will convert any input voltage between 0-5 V to a digital count between 0-1023
Quanta = 5.0 / 1024 ;Calculate the quantising value
Volts = Raw * Quanta ;Quantisize the measured data
Position = 1000 + 200* Volts ;Voltage=0.00;Position=1000us;servo=min Voltage=5.00;Position=2000us;servo=max
Print At 1, 1, "Napetost = ", DEC2 Volts, "V" ;Put measured voltage on LCD display (0-5)
Print At 2, 1, "Pozicija= ", Dec Position, " " ;Put calculated value on LCD display (1000 to 2000)
Servo Out, Position ;Send 'Position' pulses to servo
DelayMS 20 ;20mSec delay = 50Hz frequency repeat of pulse transmission to servo.
Return
Servo_loop_slow:
Print At 2, 1, "1ms -> 2ms /20us"
For Position = 1000 To 2000 Step 20 ;Increase with steps of 20uSec
Servo Out, Position ;Send 'Position' pulses to servo
DelayMS 20 ;20mSec delay = 50Hz frequency repeat of pulse transmission to servo.
Next
Print At 2, 1, "1ms <- 2ms /20us"
For Position = 2000 To 1000 Step -20 ;Decrease with steps of 20uSec
Servo Out, Position ;Send 'Position' pulses to servo
DelayMS 20 ;20mSec delay = 50Hz frequency repeat of pulse transmission to servo.
Next
Return
Servo_loop_fast:
Print At 2, 1, "1ms -> 2ms /50us"
For Position = 1000 To 2000 Step 50 ;Increase with steps of 50uSec
Servo Out, Position ;Send 'Position' pulses to servo
DelayMS 20 ;20mSec delay = 50Hz frequency repeat of pulse transmission to servo.
Next
Print At 2, 1, "1ms <- 2ms /50us"
For Position = 2000 To 1000 Step -50 ;Decrease with steps of 50uSec
Servo Out, Position ;Send 'Position' pulses to servo
DelayMS 20 ;20mSec delay = 50Hz frequency repeat of pulse transmission to servo.
Next
Return
Servo_loop_variable_speed:
Raw = ADIn 0 ;Place the conversion into variable Raw
;The ADC will convert any input voltage between 0-5 V to a digital count between 0-1023
Quanta = 90.0 / 1024 ;Calculate the quantising value. This will modify the range values from 0-1023 to 0-90 instead.
Steps = Raw * Quanta ;Quantisize the measured data
Steps = Steps + 10.0 ;Add a value of 10 to offset the minimum value to 10 instead of 0.
;The range values will now go from 10 to 100.
Print At 2, 1, "1ms -> 2ms /",DEC2 Steps,"us"
For Position = 1000 To 2000 Step Steps ;Increase
Servo Out, Position ;Send 'Position' pulses to servo
DelayMS 20 ;20mSec delay = 50Hz frequency repeat of pulse transmission to servo.
Next
Print At 2, 1, "1ms <- 2ms /",DEC2 Steps,"us"
For Position = 2000 To 1000 Step -Steps ;Decrease
Servo Out, Position ;Send 'Position' pulses to servo
DelayMS 20 ;20mSec delay = 50Hz frequency repeat of pulse transmission to servo.
Next
Return
Menu0:
Cls
Print At 1, 1, "Center Servo "
Print At 2, 1, "1500us "
While 1 = 1
GoSub Servo_center
If BtnNext = 0 Then
DelayMS 25 ;Small delay in case pushbutton was not pressed down hard enough.
While BtnNext = 0 : Wend ;Wait until pushbutton is released.
Menu = 1 ;Next
GoTo Loop
EndIf
; If BtnPrev = 0 Then
; DelayMS 25 ;Small delay in case pushbutton was not pressed down hard enough.
; While BtnPrev = 0 : Wend ;Wait until pushbutton is released.
; Menu = 2 ;Next
; GoTo Loop
; EndIf
Wend
Menu1:
Cls
Print At 1, 1, "Manual mode "
While 1 = 1
GoSub Servo_adc
If BtnNext = 0 Then
DelayMS 25 ;Small delay in case pushbutton was not pressed down hard enough.
While BtnNext = 0 : Wend ;Wait until pushbutton is released.
Menu = 2 ;Next
GoTo Loop
EndIf
; If BtnPrev = 0 Then
; DelayMS 25 ;Small delay in case pushbutton was not pressed down hard enough.
; While BtnPrev = 0 : Wend ;Wait until pushbutton is released.
; Menu = 0 ;Next
; GoTo Loop
; EndIf
Wend
Menu2:
Cls
Print At 1, 1, "Servo Fast "
While 1 = 1
GoSub Servo_loop_fast
If BtnNext = 0 Then
DelayMS 25 ;Small delay in case pushbutton was not pressed down hard enough.
While BtnNext = 0 : Wend ;Wait until pushbutton is released.
Menu = 3 ;Next
GoTo Loop
EndIf
; If BtnPrev = 0 Then
; DelayMS 25 ;Small delay in case pushbutton was not pressed down hard enough.
; While BtnPrev = 0 : Wend ;Wait until pushbutton is released.
; Menu = 1 ;Next
; GoTo Loop
; EndIf
Wend
Menu3:
Cls
Print At 1, 1, "Servo Slow "
While 1 = 1
GoSub Servo_loop_slow
If BtnNext = 0 Then
DelayMS 25 ;Small delay in case pushbutton was not pressed down hard enough.
While BtnNext = 0 : Wend ;Wait until pushbutton is released.
Menu = 4 ;Next
GoTo Loop
EndIf
; If BtnPrev = 0 Then
; DelayMS 25 ;Small delay in case pushbutton was not pressed down hard enough.
; While BtnPrev = 0 : Wend ;Wait until pushbutton is released.
; Menu = 2 ;Next
; GoTo Loop
; EndIf
Wend
Menu4:
Cls
Print At 1, 1, "Variable speed"
While 1 = 1
GoSub Servo_loop_variable_speed
If BtnNext = 0 Then
DelayMS 25 ;Small delay in case pushbutton was not pressed down hard enough.
While BtnNext = 0 : Wend ;Wait until pushbutton is released.
Menu = 0 ;Next
GoTo Loop
EndIf
; If BtnPrev = 0 Then
; DelayMS 25 ;Small delay in case pushbutton was not pressed down hard enough.
; While BtnPrev = 0 : Wend ;Wait until pushbutton is released.
; Menu = 3 ;Next
; GoTo Loop
; EndIf
Wend
Start:
;Init
Clear ;Erase RAM memory
DelayMS 500 ;Stabilize LCD
Cls ;Erase LCD
Menu = 0 ;Force Menu0
;Main
Loop:
BranchL Menu, [Menu0,Menu1,Menu2,Menu3,Menu4] ;If Menu=0 go to Menu0 subroutine and don't come back unless told to. If Menu=1 go to Menu1 subroutine and... etc.
GoTo Loop
End ;End of program
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thaking
Joined: 22 Jan 2011
Posts: 25
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| Posted: Fri Mar 11, 2011 12:16 pm |
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I started with:
| Code: |
#include <16F877A.h>
#device ADC=10
#fuses HS, NOWDT, NOPUT, NOLVP, NOPROTECT
#use delay(clock=10M)
#include "flex_lcd.c"
#define button PIN_A3
//=============================
void main() {
set_tris_a(0xff);
set_tris_d(0x00);
setup_adc_ports(NO_ANALOGS);
delay_us(50);
lcd_init(); // Always call this first.
printf(lcd_putc, "\f Servo center\n");
while(1);
}
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sseidman
Joined: 14 Mar 2005
Posts: 159
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| Posted: Fri Mar 11, 2011 12:56 pm |
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Shouldn't you take a crack at it before asking for help??
"Translating" is a bit of a loser. Put the time in to figure out what's going on in the Basic program, and take a fresh start at implementing it in C. Break this down into logical steps that you can implement and test one at a time, and if you have problems with any of these steps, I'm sure you'll get all the help you need here to work it through.
Just taking a peek at your Basic code--
DelayMS 20 ;This will result in the pulse being transmitted 50x per second
This isn't a great way to go about something like this. You'd be better off learning how to time your program off the timer interrupts. It may be fine the way you're doing it, but it isn't great form. |
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thaking
Joined: 22 Jan 2011
Posts: 25
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| Posted: Fri Mar 11, 2011 1:13 pm |
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Ok tnx for advice, can you please tell me how to make
menu's on LCD, like
| Quote: | 1.Center Servo
2.Manual mode
3.Servo Fast
4.Variable speed |
while I'm pressing button (#define button PIN_A3 )
Thanks |
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temtronic
Joined: 01 Jul 2010
Posts: 9246
Location: Greensville,Ontario
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| Posted: Fri Mar 11, 2011 1:29 pm |
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Heck , I'm impressed the original programmer comented almost every line of code! Must be an old guy like me ,self taught in assembler then onto the high level stuff!
The only way you'll understand what's going on is to translate it yourself. This is easy as the comments really help. Since you're already fluent in that Basic, it might only take you a day or two to get it 'up and running'.
You have the benefit of the Web, Google and various forums unlike 30 years ago....
PS. Obviously you have a 4 line LCD....
PPS. Search this forum for a 'button' function, it's here.... |
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thaking
Joined: 22 Jan 2011
Posts: 25
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| Posted: Fri Mar 11, 2011 2:11 pm |
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| temtronic wrote: | Heck , I'm impressed the original programmer comented almost every line of code! Must be an old guy like me ,self taught in assembler then onto the high level stuff!
The only way you'll understand what's going on is to translate it yourself. This is easy as the comments really help. Since you're already fluent in that Basic, it might only take you a day or two to get it 'up and running'.
You have the benefit of the Web, Google and various forums unlike 30 years ago....
PS. Obviously you have a 4 line LCD....
PPS. Search this forum for a 'button' function, it's here.... |
I am, but I didn't find what I am lookng, which is like menu's.
I know that it something in this way:
if
case 0
case 1
...
but I don't find exactly...
thanks |
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sseidman
Joined: 14 Mar 2005
Posts: 159
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| Posted: Fri Mar 11, 2011 5:52 pm |
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There are probably 4 or 5 different constructs you could use to do this. The one that probably comes closest to a menu is
switch case
Just search for help on "switch" in the compiler.
Try not to think of things like "an LCD menu is controlling my program". You'll tie yourself up in knots.
You have program, that accepts inputs from things like buttons. Your program acts on button pushes, and also modifies the LCD. |
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