Czasem jest tak ze jedno serwo reaguje poprawnie, czasem idzie ale skokowo. Drugie natomiast, po powrocie joysticka, wychyla sie maksymalnie jakby joystick byl w pozycji Y na max.
Podejzewam ze cos mam nie tak z referencyjnym zasilaniem (mam dodatkowo podpiete 5V do AVCC oraz GND i miedzy nimi kondensator), skoro na zasilaniu z programatora dobrze dzialalo a teraz nie dziala.
Oto moj kod:
[syntax=c]#define get_bit(reg,bitnum) ((reg & (1<<bitnum))>>bitnum)
#include <util/delay.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include "HD44780.h"
#include <string.h>
int x = 0;
int y = 0;
const int min_angle_x = 8;
const int max_angle_x = 33;
int current_angle_x = min_angle_x;
const int min_angle_y = 8;
const int max_angle_y = 33;
int current_angle_y = min_angle_y;
void moveX(uint8_t right);
char* integer_to_string(int x);
char* concat(const char *s1, const char *s2);
int main(void)
{
//INIT LCD
LCD_Initalize();
LCD_Clear();
LCD_Home();
//ADC INITIATION
ADCSRA |= 1<ADPS2;
ADMUX |= 1<<REFS0 | 1<<REFS1;
ADCSRA |= 1<<ADIE;
ADCSRA |= 1<<ADEN;
DDRD = 1<<PD6;
sei();
ADCSRA |= 1<<ADSC;
//SERVO INITIATION
uint8_t initiation_done = 0;
DDRD |= 0xFF; //output on DDR D
// DDRA |= 0xFF; //output on DDR A
DDRB = DDRB & ~(1<<0) & ~(1<<1);
TCCR1A |= 1<<COM1A1 | 1<<COM1B1 | 1<<WGM11;
TCCR1B |= 1<<WGM13 | 1<<WGM12 | 1<<CS11 | 1<<CS10;
ICR1 = (F_CPU / 64UL / 50UL) - 1;
DDRD |= 1<<PD4 | 1<<PD5;
OCR1A = min_angle_x;
OCR1B = min_angle_y;
//DDRA |= 1<<PA0 | 1<<PA1;
//calculate minimum and maximum angle values
// min_angle_x = ICR1 / 40 + 2;
// max_angle_x = ICR1 / 40 * 5;
while(1)
{
char xline[17] = {0};
snprintf(xline, sizeof(xline), "%s%s%s", "X: ", integer_to_string(current_angle_x - 8), " ");
LCD_GoTo(0,0);
LCD_WriteText(xline);
LCD_GoTo(0,1);
char yline[17] = {0};
snprintf(yline, sizeof(yline), "%s%s%s", "Y: ", integer_to_string(current_angle_y - 8), " ");
LCD_WriteText(yline);
}
}
void moveX(uint8_t right)
{
if(right == 1)
current_angle_x++;
if(right == 0)
current_angle_x--;
if(current_angle_x > max_angle_x)
current_angle_x = max_angle_x;
if(current_angle_x < min_angle_x)
{
current_angle_x = min_angle_x;
}
OCR1A = current_angle_x;
_delay_ms(50);
}
void moveY(uint8_t up)
{
if(up == 1)
current_angle_y++;
if(up == 0)
current_angle_y--;
if(current_angle_y > max_angle_y)
current_angle_y = max_angle_y;
if(current_angle_y < min_angle_y)
{
current_angle_y = min_angle_y;
}
OCR1B = current_angle_y;
_delay_ms(50);
}
char* integer_to_string(int x)
{
char* buffer = malloc(sizeof(char) * sizeof(int) * 4 + 1);
if (buffer)
{
sprintf(buffer, "%d", x);
}
return buffer; // caller is expected to invoke free() on this buffer to release memory
}
char* concat(const char *s1, const char *s2)
{
char *result = malloc(strlen(s1) + strlen(s2) + 1); // +1 for the null-terminator
// in real code you would check for errors in malloc here
strcpy(result, s1);
strcat(result, s2);
return result;
}
ISR(ADC_vect)
{
uint8_t theLow = ADCL;
uint16_t result = ADCH<<8 | theLow;
switch(ADMUX)
{
case 0xC0:
y = result;
if(result > 1000)
moveY(1);
if(result < 100)
moveY(0);
ADMUX = 0xC1;
break;
case 0xC1:
x = result;
if(result > 1000)
moveX(1);
if(result < 100)
moveX(0);
ADMUX = 0xC0;
break;
default:
break;
}
ADCSRA |= 1<<ADSC;
}[/syntax]
Dodam ze joystick przy pomiarze zasilania na pinach x i y podaje poprawne wartosci, mianowicie na srodku 2.5V na minimum 0V a na max 5VStatystyki: Napisane przez arti86pl — 27 mar 2019, o 13:01
]]>