Program ma wyglądać w ten sposób. Ustawianie prędkości w czasie jazdy ,a podczas skrętu prędkości mają być zmienne, kilka wartości zależne od ustawionej prędkości jazdy do przodu lub tyłu , tak żeby dokonał skrętu i powrócił do wcześniej ustawionej prędkości.
( kody ASCII aplikacji w pliku Bascom)
[syntax=basic4gl]'BLUE VEHICLE BY JARO ©2015
'-------------------------------------------------------------------------------
$regfile = "m8def.dat"
$crystal = 8000000
$baud = 19200
Enable Interrupts
'******************** Commands/characters sent to the cars *********************
' Forward -> F -> DEC : 70
' Back -> B -> DEC : 66
' Left -> L -> DEC : 76
' Right -> R -> DEC : 82
' Forward Left -> G -> DEC : 71
' Forward Right -> I -> DEC : 73
' Back Left -> H -> DEC : 72
' Back Right -> J -> DEC : 74
' Stop -> S -> DEC : 83
' Front Light On -> W -> DEC : 87
' Front Light Off -> w -> DEC : 119
' Back Light On -> U -> DEC : 85
' Back Light Off -> u -> DEC : 117
' Horn On -> V -> DEC : 86
' Horn Off -> v -> DEC : 118
' Extra On -> X -> DEC : 88
' Extra Off -> x -> DEC : 120
' ********* SPEED ********* PWM
' Speed 0 -> 0 -> DEC : 48 0
' Speed 10 -> 1 -> DEC : 49 26
' Speed 20 -> 2 -> DEC : 50 51
' Speed 30 -> 3 -> DEC : 51 77
' Speed 40 -> 4 -> DEC : 52 102
' Speed 50 -> 5 -> DEC : 53 128
' Speed 60 -> 6 -> DEC : 54 153
' Speed 70 -> 7 -> DEC : 55 179
' Speed 80 -> 8 -> DEC : 56 204
' Speed 90 -> 9 -> DEC : 57 230
' Speed 100 -> q -> DEC : 113 255
' Stop All -> D -> DEC : 68
'*******************************************************************************
'-------konfiguracja timera do generowania sygnału PWM warunkującego prędkość pojazdu
Config Timer1 = Pwm , Pwm = 8 , Compare A Pwm = Clear Down , Compare B Pwm = Clear Down , Prescale = 1
Config Servos = 2 , Servo1 = Portc.4 , Servo2 = Portc.5 , Reload = 2
Enable Timer1
Dim Odbior As Byte
Dim Servo_pos(2) As Byte
Dim Speed As Byte
'Dim Speed_r As Byte
'Dim Speed_l As Byte
Servo(1) = 126
Servo(2) = 150
'konfiguracja portów do sterowania L293D Forward
Config Pinc.0 = 1 : Portc.0 = 1
Config Pinc.1 = 1 : Portc.1 = 1
Config Pinc.2 = 1 : Portc.2 = 1
Config Pinc.3 = 1 : Portc.3 = 1
'konfiguracja portów do sterowania L293D back
Config Pind.3 = 1 : Portd.3 = 1
Config Pind.4 = 1 : Portd.4 = 1
Config Pind.5 = 1 : Portd.5 = 1
Config Pind.6 = 1 : Portd.6 = 1
Config Pinb.0 = 1 : Portb.0 = 0
Config Pind.7 = 1 : Portd.7 = 0 '
Config Pinb.4 = 1 : Portb.4 = 0
Config Pinb.5 = 1 : Portc.5 = 0
Config Pind.2 = 0 : Portd.2 = 1 'Switch
'deklaracja podprogramow wykonujacych ruchy pojazdu
Declare Sub Forward
Declare Sub Back
Declare Sub Rightt
Declare Sub Leftt
Declare Sub Settings
Declare Sub Stopp
Odbior = 0
Do
Odbior = Inkey()
Select Case Odbior
'Front light
Case 87 : Portb.0 = 1
Case 119 : Portb.0 = 0
'Back light
Case 85 : Portd.7 = 1
Case 117 : Portd.7 = 0
'Horn on off
Case 86 : Portb.4 = 1
Case 118 : Portb.4 = 0
'Extra on off
Case 88 : Portb.5 = 1
Case 120 : Portb.5 = 0
'Control rooms engines
Case 66 : Call Forward
Case 70 : Call Back
Case 82 : Call Rightt
Case 76 : Call Leftt
Case 83 : Call Stopp
End Select
Select Case Speed
Case 48 : Pwm1a = 0 'Speed0
Pwm1b = 0
Case 49 : Pwm1a = 26 'Speed10
Pwm1b = 26
Case 50 : Pwm1a = 51 'Speed20
Pwm1a = 51
Case 51 : Pwm1a = 77 'Speed30
Pwm1b = 77
Case 52 : Pwm1a = 102 'Speed40
Pwm1b = 102
Case 53 : Pwm1a = 128 'Speed50
Pwm1a = 128
Case 54 : Pwm1a = 153 'Speed60
Pwm1b = 153
Case 55 : Pwm1a = 179 'Speed70
Pwm1b = 179
Case 56 : Pwm1a = 204 'Speed80
Pwm1b = 204
Case 57 : Pwm1a = 230 'Speed90
Pwm1b = 230
Case 113 : Pwm1a = 255 'Speed100
Pwm1b = 255
End Select
Odbior = 0
If Pind.2 = 0 Then
Wait 1
If Pind.2 = 0 Then
Call Settings
End If
End If
Loop
End
Sub Forward
Reset Portd.3
Reset Portd.4
Set Portd.5
Set Portd.6
Reset Portc.0
Set Portc.1
Reset Portc.2
Set Portc.3
End Sub
'------------------
Sub Back
Set Portd.3
Set Portd.4
Reset Portd.5
Reset Portd.6
Set Portc.0
Reset Portc.1
Set Portc.2
Reset Portc.3
End Sub
'-----------------
Sub Rightt
Set Portd.3
Reset Portd.3
Set Portd.5
Reset Portd.6
Reset Portc.0
Set Portc.1
Set Portc.2
Reset Portc.3
End Sub
'-----------------
Sub Leftt
Reset Portd.3
Set Portd.4
Reset Portd.5
Set Portd.6
Set Portc.0
Reset Portc.1
Reset Portc.2
Set Portc.3
End Sub
'------------------
Sub Stopp
Reset Portd.3
Reset Portd.4
Reset Portd.5
Reset Portd.6
Reset Portc.0
Reset Portc.1
Reset Portc.2
Reset Portc.3
End Sub
'------------------
Sub Settings
Print "A"
Waitms 200
Print "T"
Waitms 200
Print
Waitms 200
Print "A"
Waitms 100
Print "T"
Waitms 100
Print "N"
Waitms 100
Print "=" '
Waitms 100
Print "B"
Waitms 100
Print "L"
Waitms 100
Print "U"
Waitms 100
Print "E"
Waitms 100
Print " "
Waitms 100
Print "V"
Waitms 100
Print "E" '
Waitms 100
Print "H"
Waitms 100
Print "I"
Waitms 100
Print "C"
Waitms 100
Print "L"
Waitms 100
Print "E"
Print
Waitms 10
End Sub[/syntax]Statystyki: Napisane przez jaremka75 — 31 maja 2015, o 18:27
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