pouzity xtal = 14745600Hz
zapis je nasledujici:
Kód: Vybrat vše
int manual(void)
{
int natoceni1;
int natoceni2;
int prepocetH=90;
int prepocetL=90;
char info1[20];
char info2[20];
OCR3A=1500;
OCR3B=1500;
clear_disp();
sprintf(info1, "Servo 1: %d°",prepocetH);
sprintf(info2, "Servo 2: %d°",prepocetL);
put_string_xy(0, 0, info1);
cursor_disp_ctrl(0x04);
put_string_xy(0, 1, info2);
key = 0;
while (key == 0);
// display button name
while(1) {
if (key != 0) {
switch (key) {
case 0x11 : {prepocetH+=1;}; break; // 1
case 0x12 : {prepocetH+=10;}; break; // 2
case 0x14 : {prepocetH+=100;}; break; // 3
case 0x21 : {prepocetH-=1;}; break; // 4
case 0x22 : {prepocetH-=10;}; break; // 5
case 0x24 : {prepocetH-=100;}; break; // 6
case 0x41 : {prepocetL+=1;}; break; // 7
case 0x42 : {prepocetL+=10;}; break; // 8
case 0x44 : {prepocetL+=100;}; break; // 9
case 0x82 : {prepocetL-=10;}; break; // 0
case 0x81 : {prepocetL-=1;}; break; // *
case 0x84 : {prepocetL-=100;}; break; // #
case 0x18 :return(1);break; // ESC
}
//pipani
key = 0;
beep(200, 10);
if(prepocetH>=180) prepocetH=180;
if(prepocetL>=180) prepocetL=180;
if(prepocetH<=0) prepocetH=0;
if(prepocetL<=0) prepocetL=0;
//prepocet uhlu na ciselnou hodnotu OCR3A
natoceni1=1000+(prepocetH*5,5);
natoceni2=1000+(prepocetL*5,5);
//vypis hodnot
OCR3A=natoceni1;
OCR3B=natoceni2;
clear_disp();
sprintf(info1, "Servo 1: %d°",prepocetH);
sprintf(info2, "Servo 2: %d°",prepocetL);
put_string_xy(0, 0, info1);
cursor_disp_ctrl(0x04);
put_string_xy(0, 1, info2);
PWM();
}
}
}
int PWM(void)
{
DDRE = 0x18; //povoleni portu PE3 a PE4 jako vystup PWM (OC3A a OC3B)
//Pouzita preddelicka 8 (prescaler)
ICR3=36864; //nastavenim ICR3=36864 dosahnu f=50Hz f=fxtal/N*TOP N=8 ICR1=TOP
TCCR3A|=(0<<COM3A0)|(1<<COM3A1)|(0<<COM3B0)|(1<<COM3B1)|(1<<WGM31)|(0<<WGM30); // fazove korigovana PWM (0<<WGM31)|(1<<WGM30)
//######################PWM PRO SERVO 2 ################################
TCCR3B|=(0<<ICNC3)|(0<<ICES3)|(1<<WGM33)|(1<<WGM32)|(0<<CS32)|(1<<CS31)|(0<<CS30);
}Kód: Vybrat vše
//prepocet uhlu na ciselnou hodnotu OCR3A
natoceni1=1000+(prepocetH*5,5);
natoceni2=1000+(prepocetL*5,5);
//vypis hodnot
OCR3A=natoceni1;
OCR3B=natoceni2;
