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Lab15.c
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Lab15.c
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#pragma config FOSC = HS
#pragma config WDTE = OFF
#pragma config PWRTE = OFF
#pragma config BOREN = ON
#pragma config LVP = OFF
#pragma config CPD = OFF
#pragma config WRT = OFF
#pragma config CP = OFF
#include <xc.h>
#include <stdio.h>
#define _XTAL_FREQ 200000000
#define speed 1
#define steps 250
#define clockwise 0
#define anti_clockwise 1
void system_init (void);
void full_drive (char direction);
void half_drive (char direction);
void wave_drive (char direction);
void ms_delay(unsigned int val);
void main(void)
{
system_init();
while(1){
for(int i=0;i<steps;i++){
full_drive(clockwise);
}
ms_delay(1000);
for(int i=0;i<steps;i++){
wave_drive(anti_clockwise);
}
ms_delay(1000);
}
}
void system_init (void){
TRISB = 0x00;
PORTB = 0x0F;
}
void full_drive (char direction){
if (direction == anti_clockwise){
PORTB = 0b00000011;
ms_delay(speed);
PORTB = 0b00000110;
ms_delay(speed);
PORTB = 0b00001100;
ms_delay(speed);
PORTB = 0b00001001;
ms_delay(speed);
PORTB = 0b00000011;
ms_delay(speed);
}
if (direction == clockwise){
PORTB = 0b00001001;
ms_delay(speed);
PORTB = 0b00001100;
ms_delay(speed);
PORTB = 0b00000110;
ms_delay(speed);
PORTB = 0b00000011;
ms_delay(speed);
PORTB = 0b00001001;
ms_delay(speed);
}
}
void half_drive (char direction){
if (direction == anti_clockwise){
PORTB = 0b00000001;
ms_delay(speed);
PORTB = 0b00000011;
ms_delay(speed);
PORTB = 0b00000010;
ms_delay(speed);
PORTB = 0b00000110;
ms_delay(speed);
PORTB = 0b00000100;
ms_delay(speed);
PORTB = 0b00001100;
ms_delay(speed);
PORTB = 0b00001000;
ms_delay(speed);
PORTB = 0b00001001;
ms_delay(speed);
}
if (direction == clockwise){
PORTB = 0b00001001;
ms_delay(speed);
PORTB = 0b00001000;
ms_delay(speed);
PORTB = 0b00001100;
ms_delay(speed);
PORTB = 0b00000100;
ms_delay(speed);
PORTB = 0b00000110;
ms_delay(speed);
PORTB = 0b00000010;
ms_delay(speed);
PORTB = 0b00000011;
ms_delay(speed);
PORTB = 0b00000001;
ms_delay(speed);
}
}
void wave_drive (char direction){
if (direction == anti_clockwise){
PORTB = 0b00000001;
ms_delay(speed);
PORTB = 0b00000010;
ms_delay(speed);
PORTB = 0b00000100;
ms_delay(speed);
PORTB = 0b00001000;
ms_delay(speed);
}
if (direction == clockwise){
PORTB = 0b00001000;
ms_delay(speed);
PORTB = 0b00000100;
ms_delay(speed);
PORTB = 0b00000010;
ms_delay(speed);
PORTB = 0b00000001;
ms_delay(speed);
}
}
void ms_delay(unsigned int val){
unsigned int i,j;
for(i=0;i<val;i++)
for(j=0;j<1650;j++);
}