4.

Praktikum Servo

#include <mega32.h>
#include <delay.h>
#include <alcd.h>
#include <stdio.h>

#define ADC_VREF_TYPE 0x60

// Read the 8 most significant bits
// of the AD conversion result
unsigned char read_adc(unsigned char adc_input)
{
ADMUX=adc_input | (ADC_VREF_TYPE & 0xff);
// Delay needed for the stabilization of the ADC input voltage
delay_us(10);
// Start the AD conversion
ADCSRA|=0x40;
// Wait for the AD conversion to complete
while ((ADCSRA & 0x10)==0);
ADCSRA|=0x10;
return ADCH;
}
// terlebih dulu kita inisialisasi port D sebagi output dari servo
#define port_servo1 PORTD.2
#define port_servo2 PORTD.3
#define port_servo3 PORTD.4
#define port_servo4 PORTD.5

#define port_servo5 PORTD.6

char screen[16];
// Declare your global variables here
char screen[16];

unsigned int pewaktu;

unsigned char servo[8];
// Declare your global variables here
void nilai_servo(void);

// Seting TCNT0 pada nilai 39 untuk membuat gelombang dari 0-20 ms

interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{
TCNT0=39;
pewaktu++;
pewaktu akan terus mencacah dari waktu 0 - 20ms
if (pewaktu>4)
{
pewaktu=0;
port_servo1=1;
port_servo2=1;
port_servo3=1;
port_servo4=1;
port_servo5=1;
nilai_servo();
}
}

void nilai_servo(void)
{
// 0-20ms periode dijalankan dalam rutin fungsi disini
// kita hanya perlu mengisi nilai dari servo[1]-servo[5] untuk menggerakkan servo dengan maximal nilai adalah 255
unsigned char pulsa;
for (pulsa=0; pulsa<=200; pulsa++)
{
if (pulsa>=servo[1]) port_servo1=0;
if (pulsa>=servo[2]) port_servo2=0;
if (pulsa>=servo[3]) port_servo3=0;
if (pulsa>=servo[4]) port_servo4=0;
if (pulsa>=servo[5]) port_servo5=0;
delay_us(10);
}
}

void main(void)
{
// Declare your local variables here
// Input/Output Ports initialization
// Port A initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTA=0x00;
DDRA=0x00;
// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTB=0x00;
DDRB=0x00;
// Port C initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTC=0x00;
DDRC=0x00;
// Port D initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTD=0x00;
DDRD=0xFC;
// Analog Comparator initialization
// Analog Comparator: Off

// Analog Comparator Input Capture by Timer/Counter 1: Off

ACSR=0x80;
SFIOR=0x00;
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
// Mode: Normal top=FFh
// OC0 output: Disconnected
// ADC initialization
// ADC Clock frequency: 750.000 kHz
// ADC Voltage Reference: AVCC pin
// Only the 8 most significant bits of
// the AD conversion result are used
ADMUX=ADC_VREF_TYPE & 0xff;
ADCSRA=0x84;

TCCR0=0x04;
TCNT0=0x39;
OCR0=0x00;
// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x01;
ACSR=0x80;
SFIOR=0x00;

// Alphanumeric LCD initialization

// Connections are specified in the
// Project|Configure|C Compiler|Libraries|Alphanumeric LCD menu:
// RS - PORTC Bit 0
// RD - PORTC Bit 1
// EN - PORTC Bit 2
// D4 - PORTC Bit 4
// D5 - PORTC Bit 5
// D6 - PORTC Bit 6
// D7 - PORTC Bit 7
// Characters/line: 16
lcd_init(16);
// Global enable interrupts
#asm("sei")
while (1)
{
servo[1]=read_adc(0);
servo[2]=read_adc(1);
servo[3]=read_adc(2);
servo[4]=read_adc(3);

servo[5]=read_adc(4);
lcd_gotoxy(0,0);
sprintf(screen,"%3d %3d %3d ",servo[1],servo[2],servo[3]);
lcd_puts(screen);
lcd_gotoxy(1,1);
sprintf(screen,"%3d %3d ",servo[4],servo[5]);
lcd_puts(screen);
}
}