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#include <htc.h>
__CONFIG(LVP_OFF & BOREN_OFF & PWRTE_ON & WDTE_OFF & FOSC_HS);
#define _XTAL_FREQ 20000000
int turnr,turnl,kp,tp,offsetr,offsetl,errorl;
int errorr,powerr,powerl;
int number;
int number1;
int ReadADC(unsigned char ch);
void main(void){
ADCON0=0b01000001;//000 = channel 0, (RA0/AN0)
ADCON1=0b10000000;
TRISC=0X00;
unsigned int ch,b;
T2CON = 0x1e;
PR2 = 129; // timer preload value
TMR2IE = 1; // enable timer 2 interrupt
PEIE = 1; // enable peripheral interrupt
GIE = 1;
PR2 = 0b11111001 ;
T2CON = 0b00000100 ;
CCP1CON = 0b00111100;
CCP2CON = 0b00111100;
PORTC = 0;
while(1){
__delay_ms(50);
CCPR2L = powerl; //pwm1 change
CCPR1L =powerr; //pwm1 change
if(powerl>0){
RC4=0;//forward a
RC3=1;
RC0=1;//forward b
RC6=0;
}
else{
powerl= powerl* (-1);
RC4=1;//forward a
RC3=0;
RC0=0;//forward b
RC6=1;
}
}
}
int ReadADC(unsigned char ch)
{
int ret = 0;
ADCON0 = 0b10000001 + (ch<<3); // set channel to read
__delay_ms(5);
GO_DONE = 1; // start conversion
while(GO_DONE); // wait for conversion
ret = (ADRESH & 0x3) << 8; // get
ret += ADRESL; // result
return ret;
}
void interrupt ISR() // This just swaps the buffer to the display
{
if(TMR2IF) // make sure its the timer interrupt.
{
number = ReadADC(0); //sensor 1
number1 = ReadADC(1);//sensor 2
kp = 1000;
offsetr = 1;//1.67;sensor average value on black and wwhite
offsetl = 1;//1.57;
tp = 155;//random set pwm duty cycle
errorr = number - offsetr;
errorl = number1 - offsetl;
turnr = kp * errorr;
turnr = turnr/100 ;
turnl = kp * errorl;
turnl= turnl/100;
powerl = tp + turnr; //pwm1 change
powerr = tp - turnl; //pwm1 change
}
TMR2IF = 0;
}
