update week12, control servo

parent 918e7384
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in 56 seconds
//
//
// hello.bus.45.c
//
// 9600 baud serial bus hello-world
//
// Neil Gershenfeld
// 11/24/10
//
// (c) Massachusetts Institute of Technology 2010
// Permission granted for experimental and personal use;
// license for commercial sale available from MIT.
//
#include <avr/io.h>
#include <util/delay.h>
#include <avr/pgmspace.h>
#include <string.h>
#define output(directions,pin) (directions |= pin) // set port direction for output
#define input(directions,pin) (directions &= (~pin)) // set port direction for input
#define set(port,pin) (port |= pin) // set port pin
#define clear(port,pin) (port &= (~pin)) // clear port pin
#define pin_test(pins,pin) (pins & pin) // test for port pin
#define bit_test(byte,bit) (byte & (1 << bit)) // test for bit set
#define bit_delay_time 100 // bit delay for 9600 with overhead
#define bit_delay() _delay_us(bit_delay_time) // RS232 bit delay
#define half_bit_delay() _delay_us(bit_delay_time/2) // RS232 half bit delay
#define led_delay() _delay_ms(100) // LED flash delay
#define led_port PORTB
#define led_direction DDRB
#define led_pin (1 << PB0)
#define serial_port PORTB
#define serial_direction DDRB
#define serial_pins PINB
#define serial_pin_in (1 << PB3)
#define serial_pin_out (1 << PB4)
#define node_id '0'
void get_char(volatile unsigned char *pins, unsigned char pin, char *rxbyte) {
//
// read character into rxbyte on pins pin
// assumes line driver (inverts bits)
//
*rxbyte = 0;
while (pin_test(*pins,pin))
//
// wait for start bit
//
;
//
// delay to middle of first data bit
//
half_bit_delay();
bit_delay();
//
// unrolled loop to read data bits
//
if pin_test(*pins,pin)
*rxbyte |= (1 << 0);
else
*rxbyte |= (0 << 0);
bit_delay();
if pin_test(*pins,pin)
*rxbyte |= (1 << 1);
else
*rxbyte |= (0 << 1);
bit_delay();
if pin_test(*pins,pin)
*rxbyte |= (1 << 2);
else
*rxbyte |= (0 << 2);
bit_delay();
if pin_test(*pins,pin)
*rxbyte |= (1 << 3);
else
*rxbyte |= (0 << 3);
bit_delay();
if pin_test(*pins,pin)
*rxbyte |= (1 << 4);
else
*rxbyte |= (0 << 4);
bit_delay();
if pin_test(*pins,pin)
*rxbyte |= (1 << 5);
else
*rxbyte |= (0 << 5);
bit_delay();
if pin_test(*pins,pin)
*rxbyte |= (1 << 6);
else
*rxbyte |= (0 << 6);
bit_delay();
if pin_test(*pins,pin)
*rxbyte |= (1 << 7);
else
*rxbyte |= (0 << 7);
//
// wait for stop bit
//
bit_delay();
half_bit_delay();
}
void put_char(volatile unsigned char *port, unsigned char pin, char txchar) {
//
// send character in txchar on port pin
// assumes line driver (inverts bits)
//
// start bit
//
clear(*port,pin);
bit_delay();
//
// unrolled loop to write data bits
//
if bit_test(txchar,0)
set(*port,pin);
else
clear(*port,pin);
bit_delay();
if bit_test(txchar,1)
set(*port,pin);
else
clear(*port,pin);
bit_delay();
if bit_test(txchar,2)
set(*port,pin);
else
clear(*port,pin);
bit_delay();
if bit_test(txchar,3)
set(*port,pin);
else
clear(*port,pin);
bit_delay();
if bit_test(txchar,4)
set(*port,pin);
else
clear(*port,pin);
bit_delay();
if bit_test(txchar,5)
set(*port,pin);
else
clear(*port,pin);
bit_delay();
if bit_test(txchar,6)
set(*port,pin);
else
clear(*port,pin);
bit_delay();
if bit_test(txchar,7)
set(*port,pin);
else
clear(*port,pin);
bit_delay();
//
// stop bit
//
set(*port,pin);
bit_delay();
//
// char delay
//
bit_delay();
}
void put_string(volatile unsigned char *port, unsigned char pin, PGM_P str) {
//
// send character in txchar on port pin
// assumes line driver (inverts bits)
//
static char chr;
static int index;
index = 0;
do {
chr = pgm_read_byte(&(str[index]));
put_char(&serial_port, serial_pin_out, chr);
++index;
} while (chr != 0);
}
void flash() {
//
// LED flash delay
//
clear(led_port, led_pin);
led_delay();
set(led_port, led_pin);
}
int main(void) {
//
// main
//
static char chr;
//
// set clock divider to /1
//
CLKPR = (1 << CLKPCE);
CLKPR = (0 << CLKPS3) | (0 << CLKPS2) | (0 << CLKPS1) | (0 << CLKPS0);
//
// initialize output pins
//
set(serial_port, serial_pin_out);
input(serial_direction, serial_pin_out);
set(led_port, led_pin);
output(led_direction, led_pin);
//
// main loop
//
while (1) {
get_char(&serial_pins, serial_pin_in, &chr);
flash();
if (chr == node_id) {
output(serial_direction, serial_pin_out);
static const char message[] PROGMEM = "node ";
put_string(&serial_port, serial_pin_out, (PGM_P) message);
put_char(&serial_port, serial_pin_out, chr);
put_char(&serial_port, serial_pin_out, 10); // new line
led_delay();
flash();
input(serial_direction, serial_pin_out);
}
}
}
......@@ -140,14 +140,24 @@
<center><video width="680" height="400" src="week 12/07.mp4" autoplay muted loop></video> </center>
<center><FONT SIZE=3> Fig.10 - Gift Servo</font></center>
<center><FONT SIZE=3> Fig.10 - Gift Servo</font></center> <br>
<P ALIGN="justify"> If we modify the loop we can increase the speed of the servo; On the other hand, by changing the delay we can obtain the angles we want to give to the servomotor.</p>
<center><span class="image main"><img src="week 12/up00.png" alt="Avatar" style="width: 350px">
<FONT SIZE=3> Fig.09 - Code </font> </span></center>
<P ALIGN="justify"> In the video I will show that if we modify the values ​​of the delay_us we can originate the angles that we want, in my case I will generate the angles 20,45,90,135 and 180.</p>
<center><video width="680" height="400" src="week 12/v002.mp4" autoplay muted loop></video> </center>
<center><FONT SIZE=3> Fig.10 - Gift Angle Servo </font></center>
<p><u>Files</u></p>
<P ALIGN="justify"> You can download group files here. </p>
<a> <FONT SIZE=3> <a href="week 12/Files/OUTPUT_FILES_f.rar" download> Arduino Code </font> </a> </center> <br>
<a> <FONT SIZE=3> <a href="week 12/Files/OUTPUT_FILES_SERVO_UPDATE_" download> Arduino Code </font> </a> </center> <br>
<a> <FONT SIZE=3> <a href="week 12/Files/output sch servo.rar" download> Schematic </font> </a><br> </center>
......
......@@ -51,7 +51,7 @@
<div id="main">
<div class="inner">
<h1>Week 14: Embedded Networking and Communications</h1>
<h1>Week 14: Networking and Communications</h1>
<P ALIGN="justify"> For this week, we demonstrate workflows used in network design, also implement and interpret networking protocols </p>
......
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