| 0,0 → 1,99 |
|---|
| // Prijimac |
| |
| #include "main.h" |
| #include "..\common.h" |
| |
| #DEFINE LCD_RS PIN_B1 // rizeni registru LCD displeje |
| #DEFINE LCD_E PIN_B0 // enable LCD displeje |
| #DEFINE LCD_DATA_LSB PIN_B2 // pripojeni LSB bitu datoveho portu LCD displeje (celkem 4 bity vzestupne za sebou) |
| #INCLUDE "MYLCD.C" |
| |
| #DEFINE PRIJIMAC PIN_A3 // pin na ktery je pripojen prijimac |
| #DEFINE SERVO_X PIN_A2 // pin na ktery je pripojeno servo |
| #DEFINE SERVO_Y PIN_B0 |
| #INCLUDE "prijimac.c" |
| |
| |
| |
| int8 x,y,tlacitka; |
| int8 xc,yc; // pocitadla aktualizace x a y |
| int e1,e2,e3,e4; // pocitadla chyb - ladici |
| |
| void main() |
| { |
| lcd_init(); // zinicializuj LCD display |
| delay_ms(5); |
| printf(lcd_putc,"Ahoj..."); |
| delay_ms(300); |
| |
| x = 0; |
| y = 0; |
| xc = 0; |
| yc = 0; |
| e1 = 0; |
| e2 = 0; |
| e3 = 0; |
| e4 = 0; |
| |
| while (true) |
| { |
| int8 kanal, data; |
| |
| if (prijmi_ramec(&kanal,&data)) |
| e1++; |
| else |
| { |
| switch (kanal) // rozeskoc se podle adresy osy |
| { |
| case OSA_X: |
| { |
| x=data; |
| xc++; |
| break; |
| }; |
| case OSA_Y: |
| { |
| y=data; |
| yc++; |
| break; |
| }; |
| case TLs: |
| { |
| tlacitka=data; |
| break; |
| }; |
| }; |
| |
| |
| // ladici vypisy |
| |
| lcd_gotoxy(1,1); // vytiskni X a Y |
| printf(lcd_putc,"X%2U %3U%3U%3U ", x, xc, e1, e2); |
| lcd_gotoxy(1,2); |
| printf(lcd_putc,"Y%2U %3U%3U%3U ", y, yc, e3, tlacitka); |
| |
| // ovladani serv |
| output_high(SERVO_X); |
| delay_ms(1); |
| for (data=x; data--; data>0) |
| delay_us(65); |
| output_low(SERVO_X); |
| |
| output_high(SERVO_Y); |
| delay_ms(1); |
| for (data=y; data--; data>0) |
| delay_us(65); |
| output_low(SERVO_Y); |
| |
| for (data=30-x-y; data--; data>0) |
| delay_us(65); |
| |
| // Vystupy tlacitek |
| |
| // if (bit_test(tlacitka,1)) output_high(pin_A2); else output_low(pin_A2); |
| output_bit(PIN_A2,bit_test(tlacitka,1)); |
| } |
| } |
| } |
| |
| |