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help me to add interrupt

 
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autova



Joined: 24 May 2011
Posts: 14

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help me to add interrupt
PostPosted: Tue Jun 07, 2011 10:31 am     Reply with quote
Below are my code. I'm using an ir sensor to detect object but the problem is when I run it into my robot. It will detect object after finish reading line by line.

Code:

#include <16F877A.H>
#fuses hs, no protect, nowdt, nolvp
#use delay(clock=20000000)
//#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7, ERRORS)
//#use i2c(Master, sda=PIN_C4, scl=PIN_C3, FORCE_HW)
//#define use_portb_lcd TRUE
//#include <lcd.c>



#byte PORTa=5
#byte PORTb=6
#byte PORTC=7
#byte PORTd=8
#byte PORTe=9




   set_tris_d(0b00000000);
   set_tris_a(0b11111111);
   set_tris_c(0b00000000);
   set_tris_b(0b00000000);




/////-----------------------------------------------
/////////------------motor movement-----------------
////////--------------------------------------------
void forward()
{
   output_high(pin_b0);   //motor 1
   output_low(pin_b1);
   output_high(pin_b2);

   output_high(pin_b3);   // motor 3
   output_low(pin_b4);
   output_high(pin_b5);
   delay_ms(500);
}



void reverse()
{
   output_high(pin_b1);   //motor 1
   output_low(pin_b0);
   output_high(pin_b2);

   output_high(pin_b4);   // motor 3
   output_low(pin_b3);
   output_high(pin_b5);
   delay_ms(500);
}

void stop()
{
   output_low(pin_b1);   //motor 1
   output_low(pin_b0);
   output_low(pin_b2);

   output_low(pin_b4);   // motor 3
   output_low(pin_b3);
   output_low(pin_b5);

}

void kanan()
{
   output_high(pin_b0);   //motor 1
   output_low(pin_b1);
   output_high(pin_b2);

   output_low(pin_b4);   // motor 3
   output_low(pin_b3);
   output_low(pin_b5);
   delay_ms(500);
}

void kiri()
{
   output_low(pin_b1);   //motor 1
   output_low(pin_b0);
   output_low(pin_b2);

   output_high(pin_b3);   // motor 3
   output_low(pin_b4);
   output_high(pin_b5);
   delay_ms(500);
}



/////-----------------------------------------------
/////////------------IRPD SENSOR--------------------
////////--------------------------------------------

void main()
{

delay_ms(5000);

do
{

if (input (pin_a0)==1)

{ // not detected obstacle

//------------fasa 1---------------------
//---------------------------------------
//{
      forward();
      stop();
      delay_ms(2000);
      kanan();
      stop();
      delay_ms(2000);

      forward();
      stop();
      delay_ms(2000);
      kanan();
      stop();
      delay_ms(2000);

      forward();
      delay_ms(600);


//------------fasa 2---------------------
//---------------------------------------
      stop();
      delay_ms(2000);
      kanan();
      stop();
      delay_ms(2000);
      forward();
      delay_ms(600);

      stop();
      delay_ms(2000);

      kanan();
      stop();
      delay_ms(2000);
      forward();
      delay_ms(600);

      stop();
      delay_ms(2000);
      kanan();
      stop();
      delay_ms(2000);
      forward();
      delay_ms(600);

      stop();
      delay_ms(2000);
      kanan();
      stop();
      delay_ms(2000);
      forward();
      delay_ms(700);


//------------fasa 3---------------------
//---------------------------------------
      stop();
      delay_ms(2000);
      kanan();
      stop();
      delay_ms(2000);
      forward();
      delay_ms(700);

      stop();
      delay_ms(2000);
      kanan();
      stop();
      delay_ms(2000);
      forward();
      delay_ms(700);

      stop();
      delay_ms(2000);
      kanan();
      stop();
      delay_ms(2000);
      forward();
      delay_ms(700);

      stop();
      delay_ms(2000);
      kanan();
      stop();
      delay_ms(2000);
      forward();
      delay_ms(700);


//------------fasa 4---------------------
//---------------------------------------
      stop();
      delay_ms(2000);
      kanan();
      stop();
      delay_ms(2000);
      forward();
      delay_ms(700);

      stop();
      delay_ms(2000);
      kiri();
      stop();
      delay_ms(2000);
      forward();
      delay_ms(700);

      stop;
      delay_ms(3000);

//}

}


if (input (pin_a0)==0) // detected obstacle
{
   stop();
   reverse();
   stop();
   delay_ms(2000);


   kanan();
   stop();
   delay_ms(2000);
   forward();
   stop();
   delay_ms(2000);


   kiri();
   stop();
   delay_ms(2000);
   forward();
   delay_ms(700);
   stop();
   delay_ms(2000);


   kiri();
   stop();
   delay_ms(2000);
   forward();
   stop();
   delay_ms(2000);


   kanan();
   stop();
   delay_ms(2000);
   forward();


}
}
while(1);
}
Ttelmah



Joined: 11 Mar 2010
Posts: 19545

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PostPosted: Wed Jun 08, 2011 3:08 pm     Reply with quote
An 'interrupt' is not what you need.
You need to rethink your code. Currently it is like a driver, who only looks up at what is going on outside, and turns the steering wheel every few seconds, and then is surprised when he drives into things....
Your 'detection', needs to be continuous. Use loops, with a counter, and short time interval, to replace your long delays, and while you loop, test the returns from the sensors. As _soon_ as these go to a state that needs a different response, change to the new movement.

Best Wishes
Fusillade



Joined: 02 Aug 2007
Posts: 31

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PostPosted: Wed Jun 08, 2011 7:20 pm     Reply with quote
This is one possible idea for your code. Please excuse any errors as I wrote it quickly only as an idea. This is not debugged or complete or the best solution. Just an idea.

Delays were removed from your maneuvers.

Every pass through the routine has about 1ms delay plus code processing time.

Every pass through the routine checks the IR status and stops if something is detected.

The timer is approximately how long you want to perform the maneuver in ms.

When the timer reaches zero, the robot stops and defines the new state.

Only performs one pattern. An array could be created (excluding stops as they are assumed) to contain a pattern array with the index incremented upon successful completion of a positive maneuver.


Code:
#typedef enum _ROBOT_STATE
{
    OFF = 0x00,
    FORWARD = 0x55,
    REVERSE = 0xAA,
    KANAN = 0x0F,
    KIRI = 0xF0,
    STOP = 0xFF
} ROBOT_STATE;

void forward()
{
   output_high(pin_b0);   //motor 1
   output_low(pin_b1);
   output_high(pin_b2);

   output_high(pin_b3);   // motor 3
   output_low(pin_b4);
   output_high(pin_b5);
}

void reverse()
{
   output_high(pin_b1);   //motor 1
   output_low(pin_b0);
   output_high(pin_b2);

   output_high(pin_b4);   // motor 3
   output_low(pin_b3);
   output_high(pin_b5);
}

void kanan()
{
   output_high(pin_b0);   //motor 1
   output_low(pin_b1);
   output_high(pin_b2);

   output_low(pin_b4);   // motor 3
   output_low(pin_b3);
   output_low(pin_b5);
}

void kiri()
{
   output_low(pin_b1);   //motor 1
   output_low(pin_b0);
   output_low(pin_b2);

   output_high(pin_b3);   // motor 3
   output_low(pin_b4);
   output_high(pin_b5);
}

void stop()
{
   output_low(pin_b1);   //motor 1
   output_low(pin_b0);
   output_low(pin_b2);

   output_low(pin_b4);   // motor 3
   output_low(pin_b3);
   output_low(pin_b5);
}

void main(void)
{
    unsigned int8 previous_state = OFF;
    unsigned int8 current_state = FORWARD;
    unsigned int8 next_state = OFF;
    unsigned int16 runtime = 0;
    unsigned int16 newruntime = 500;
   
    delay_ms(5000);
    while(1)
    {
        switch(state)
        {
            case FORWARD:
            {
                if(current_state != previous_state)
                {
                    forward();
                    runtime = newruntime;
                    next_state = STOP;                   
                }
                else
                {
                    runtime--;
                }
                break;
            }
            case REVERSE:
            {
                if(current_state != previous_state)
                {
                    reverse();
                    runtime = newruntime;                   
                    next_state = STOP;                   
                }
                else
                {
                    runtime--;
                }
                break;
            }
            case KANAN:
            {
                if(current_state != previous_state)
                {
                    kanan();
                    runtime = newruntime;                   
                    next_state = STOP;                   
                }
                else
                {
                    runtime--;
                }
                break;
            }
            case KIRI:
            {
                if(current_state != previous_state)
                {
                    kanan();
                    runtime = newruntime;                   
                    next_state = STOP;                   
                }
                else
                {
                    runtime--;
                }
                break;
            }
            case STOP:
            {
                if(current_state != previous_state)
                {
                    stop();
                    if(runtime != 0)
                    {
                        new_state = ~previous_state;
                        newruntime = 500 - runtime;
                    }
                    else
                    {
                        switch(previous_state)
                        {
                            case FORWARD:
                            {
                                new_state = KANAN; // could be pattern array
                                break;
                            }
                            case REVERSE:
                            {
                                new_state = KIRI; // could be pattern array
                                break;
                            }
                            case KANAN:
                            case KIRI:
                            {
                                new_state = FORWARD; // could be pattern array
                                break;
                            }
                        }
                        newruntime = 500;
                    }
                    runtime = 2000;                   
                }
                else
                {
                    runtime--;
                }
                break;
            }
        }
        delay_ms(1);
        if(input(pin_a0) == 0)
            current_state = STOP;
        else if(runtime != 0)
            previous_state = current_state;
        else
            current_state = new_state;
    }
}

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autova



Joined: 24 May 2011
Posts: 14

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PostPosted: Thu Jun 09, 2011 3:05 am     Reply with quote
Ttlemah : ooo , so u saying that i need to recheck and test one by one what going on with my coding . i need to replace the delay and start using loop ?

Fusillade : will do try this concept . thanks for your help . i appreciate it a lot . this coding not for pic16f877a isn't it ? i just need to change it a little bit and apply the concept for it ?
Fusillade



Joined: 02 Aug 2007
Posts: 31

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PostPosted: Thu Jun 09, 2011 6:03 am     Reply with quote
autova wrote:
Ttlemah : ooo , so u saying that i need to recheck and test one by one what going on with my coding . i need to replace the delay and start using loop ?

Fusillade : will do try this concept . thanks for your help . i appreciate it a lot . this coding not for pic16f877a isn't it ? i just need to change it a little bit and apply the concept for it ?


Ttlemah pointed out that you perform a lot of moves without checking the IR port. Their suggestion was for you to continuously check the status of the IR port while you are moving. If you detect an object, then you need to change your movement. This can be done with a loop.

If you simply replaced your delay_ms(500) calls in direction routines with:

Code:
motion_timer(500);  // replaces delay_ms(500)

void motion_timer(unsigned int16 counter)
{
     do
     {
          delay_ms(1);
          counter--;
     } while((counter != 0) && (input(pin_a0) == 1));
     return;
}


At least the device would stop the instant it detects an object.

BTW, what I have provided will work with the pic16f877a. Just add your header information and port definitions into the code as my coding is no different than your own.
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autova



Joined: 24 May 2011
Posts: 14

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PostPosted: Thu Jun 09, 2011 8:03 am     Reply with quote
Fusillade

ooo , when i try to compile the program u give it to , there's an error .
for the #typedef enum ... the errors are invalid pre-processor directive . what was the problem ?
Fusillade



Joined: 02 Aug 2007
Posts: 31

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PostPosted: Thu Jun 09, 2011 10:56 am     Reply with quote
autova wrote:
Fusillade

ooo , when i try to compile the program u give it to , there's an error .
for the #typedef enum ... the errors are invalid pre-processor directive . what was the problem ?


Try

#define OFF = 0x00
#define FORWARD = 0x55
#define REVERSE = 0xAA
#define KANAN = 0x0F
#define KIRI = 0xF0
#define STOP = 0xFF

instead of my typedef enumeration.

Edit:

And you will need to rename either the above definitions or the function names so that they do not have the same name.
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