| 0,0 → 1,86 |
|---|
| #include "motor.h" |
| #use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA0) // Motor 1 |
| //#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA2) // Motor 2 |
| |
| #define H1 PIN_A1 |
| #define L1 PIN_A2 |
| #define H2 PIN_A3 |
| #define L2 PIN_A4 |
| |
| signed int8 command; |
| |
| #INT_SSP |
| void ssp_interupt () |
| { |
| BYTE incoming, state; |
| |
| output_low(H1); |
| output_low(L1); |
| output_low(H2); |
| output_low(L2); |
| |
| state = i2c_isr_state(); |
| |
| if(state < 0x80) //Master is sending data |
| { |
| output_toggle(PIN_A0); |
| command = i2c_read(); |
| } |
| |
| if(state == 0x80) //Master is requesting data |
| { |
| i2c_write(command); |
| } |
| } |
| |
| |
| void main() |
| { |
| |
| setup_adc_ports(NO_ANALOGS|VSS_VDD); |
| setup_adc(ADC_OFF); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| setup_oscillator(OSC_8MHZ|OSC_INTRC); |
| |
| enable_interrupts(GLOBAL); |
| enable_interrupts(INT_SSP); |
| |
| while(true) |
| { |
| |
| if (0==command) |
| { |
| output_low(H1); // stop |
| output_low(H2); |
| output_low(L1); |
| output_low(L2); |
| continue; |
| }; |
| if (command>0) |
| { |
| output_high(H1); // vpred |
| output_low(H2); |
| output_low(L1); |
| output_high(L2); |
| } |
| else |
| { |
| output_low(H1); // vzad |
| output_high(H2); |
| output_high(L1); |
| output_low(L2); |
| }; |
| delay_us(127-abs(command)); |
| output_low(H1); |
| output_low(H2); |
| output_low(L1); |
| output_low(L2); |
| } |
| } |
| |
| |
| |