{"id":12557,"date":"2012-07-11T08:46:06","date_gmt":"2021-03-02T12:17:11","guid":{"rendered":"https:\/\/roboeq.ir\/blog\/?p=12557"},"modified":"2021-03-02T12:17:13","modified_gmt":"2021-03-02T12:17:13","slug":"%d8%af%d8%b1%d8%a7%db%8c%d9%88%d8%b1-%d8%af%d9%88-%d9%85%d9%88%d8%aa%d9%88%d8%b1-%d9%be%d9%84%d9%87-%d8%a7%db%8c-%d8%a8%d8%a7-%d9%85%db%8c%da%a9%d8%b1%d9%88%da%a9%d9%86%d8%aa%d8%b1%d9%84%d8%b1-pic","status":"publish","type":"post","link":"https:\/\/roboeq.ir\/blog\/%d8%af%d8%b1%d8%a7%db%8c%d9%88%d8%b1-%d8%af%d9%88-%d9%85%d9%88%d8%aa%d9%88%d8%b1-%d9%be%d9%84%d9%87-%d8%a7%db%8c-%d8%a8%d8%a7-%d9%85%db%8c%da%a9%d8%b1%d9%88%da%a9%d9%86%d8%aa%d8%b1%d9%84%d8%b1-pic\/","title":{"rendered":"\u062f\u0631\u0627\u06cc\u0648\u0631 \u062f\u0648 \u0645\u0648\u062a\u0648\u0631 \u067e\u0644\u0647 \u0627\u06cc \u0628\u0627 \u0645\u06cc\u06a9\u0631\u0648\u06a9\u0646\u062a\u0631\u0644\u0631 PIC"},"content":{"rendered":"\n

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\u0628\u0631\u0646\u0627\u0645\u0647 \u0627\u0635\u0644\u06cc \u0628\u0647 \u0633\u0627\u062f\u06af\u06cc \u0648 \u0628\u0647 \u062a\u0646\u0627\u0648\u0628 ,PORTA \u0631\u0627 \u062c\u0647\u062a \u06cc\u0627\u0641\u062a\u0646 \u062a\u063a\u06cc\u06cc\u0631 \u062f\u0631 \u06a9\u0644\u0645\u0647 \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc \u062e\u0648\u0627\u0646\u062f.\u0627\u06cc\u0646 \u0641\u0631\u0627\u06cc\u0646\u062f \u0647\u0631 \u0627\u0632 \u0686\u0646\u062f \u06af\u0627\u0647\u06cc \u0647\u0646\u06af\u0627\u0645\u06cc \u06a9\u0647 \u0645\u0648\u062a\u0648\u0631 \u0628\u0647 \u06cc\u06a9 \u062a\u062d\u0631\u06cc\u06a9 \u062c\u062f\u06cc\u062f \u0646\u06cc\u0627\u0632 \u062f\u0627\u0634\u062a\u0647 \u0628\u0627\u0634\u062f \u062a\u0648\u0633\u0637 \u0648\u0642\u0641\u0647 TMR0 \u0645\u062a\u0648\u0642\u0641 \u0645\u06cc \u0634\u0648\u062f.\u0686\u0648\u0646 \u062a\u062d\u0631\u06cc\u06a9 \u0645\u0648\u062a\u0648\u0631 \u062f\u0648\u0631\u0647 \u0627\u06cc \u0627\u0633\u062a , \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u062a\u0648\u0631 \u062f\u0631 \u067e\u0633 \u0632\u0645\u06cc\u0646\u0647 \u0627\u062c\u0631\u0627 \u0645\u06cc \u0634\u0648\u062f.<\/p>\n\n\n\n

\u0646\u0631\u0645 \u0627\u0641\u0632\u0627\u0631 \u0645\u0648\u062c\u0648\u062f \u0628\u0647 \u0645\u0627 \u0627\u062c\u0627\u0632\u0647 \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0633\u0627\u062f\u0647 \u0627\u06cc \u062f\u0631 \u062a\u062d\u0631\u06cc\u06a9 \u0633\u06cc\u0645 \u067e\u06cc\u0686\u06cc \u0645\u0648\u062a\u0648\u0631 ,\u06a9\u0644\u0645\u0647 \u06a9\u0646\u062a\u0631\u0644 \u0648 \u0633\u0631\u0639\u062a \u0645\u0648\u062a\u0648\u0631 \u0631\u0627 \u0645\u06cc \u062f\u0647\u062f.\u0628\u062f\u06cc\u0646 \u062a\u0631\u062a\u06cc\u0628 \u0645\u06cc \u062a\u0648\u0627\u0646 \u0628\u0647 \u0633\u0627\u062f\u06af\u06cc \u062c\u062f\u0648\u0644 \u062a\u062d\u0631\u06cc\u06a9 \u0631\u0627 \u0627\u0632 \u0644\u062d\u0627\u0638 \u0627\u0646\u062f\u0627\u0632\u0647 \u0648 \u0645\u062d\u062a\u0648\u06cc \u0628\u0631\u0627\u06cc \u0646\u06cc\u0645 \u067e\u0644\u0647 \u0627\u0635\u0644\u0627\u062d \u06a9\u0631\u062f.\u06a9\u0644\u0645\u0627\u062a \u06a9\u0646\u062a\u0631\u0644 \u062a\u0646\u0647\u0627 \u06cc\u06a9 \u0634\u0645\u0627\u0631\u0634(\u0627\u0632 \u0635\u0641\u0631 \u062a\u0627 \u0686\u0647\u0627\u0631) \u0647\u0633\u062a\u0646\u062f.\u0628\u0646\u0627\u0628\u0631\u0627\u06cc\u0646 \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u0645 \u062a\u0631\u062a\u06cc\u0628 \u0622\u0646\u0647\u0627 \u0631\u0627 \u0627\u0646\u062a\u062e\u0627\u0628 \u06a9\u0631\u062f\u0647 \u0648 \u062f\u0631 \u0635\u0648\u0631\u062a \u0644\u0632\u0648\u0645 , \u0639\u0648\u0636 \u0646\u0645\u0648\u062f.\u0628\u0627\u062a\u063a\u06cc\u06cc\u0631 \u0645\u0642\u062f\u0627\u0631 \u0627\u0648\u0644\u06cc\u0647 TMR0 \u0645\u06cc \u062a\u0648\u0627\u0646 \u0633\u0631\u0639\u062a \u0631\u0627 \u062f\u0631 \u0645\u0628\u0646\u0627\u06cc \u062f\u0648 \u062a\u063a\u06cc\u06cc\u0631 \u062f\u0627\u062f.\u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0628\u0647\u062a\u0631 \u0628\u0627 \u0627\u06cc\u062c\u0627\u062f \u062a\u063a\u06cc\u06cc\u0631 \u062f\u0631 \u0645\u0642\u062f\u0627\u0631 \u0627\u0648\u0644\u06cc\u0647 TMR0 \u0628\u0647 \u062f\u0633\u062a \u0645\u06cc \u0622\u06cc\u0646\u062f.<\/p>\n\n\n\n

\u0627\u06cc\u0646 \u062e\u0637\u0648\u0637 \u0634\u0628\u0647 \u06a9\u062f \u0646\u0631\u0645 \u0627\u0641\u0632\u0627\u0631 \u0647\u0633\u062a\u0646\u062f:<\/strong><\/p>\n\n\n\n

Constants\nEXCITATION_TABLE_SIZE = 4\u00a0\u00a0 \/\/ number of excitations in sequence \u00a0\u00a0\u00a0\u00a0\nTMR0_CNT_UP\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 = 100 \/\/ 256 - duration (motor speed)\n\/\/ Motor states\nRIGHT_FORWARD\u00a0 = 0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ These can be re-ordered\nRIGHT_BACKWARD = 1\nRIGHT_HOLD\u00a0\u00a0\u00a0\u00a0 = 2\nRIGHT_IDLE\u00a0\u00a0\u00a0\u00a0 = 3\nLEFT_FORWARD\u00a0\u00a0 = 0 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ Above states shifted 2 bits left (multiplied by 4)\nLEFT_BACKWARD\u00a0 = 4\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\nLEFT_HOLD\u00a0\u00a0\u00a0\u00a0\u00a0 = 8\u00a0\nLEFT_IDLE\u00a0\u00a0\u00a0\u00a0\u00a0 = 12\nGlobalVariables\nleftExcitationCntr\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ current left motor excitation number\nrightExcitationCntr\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ current right motor excitation number\nmotorState \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ 4 bit function word for both motors\nexcitations[] = {11000000b, \/\/ Excitation table - if the table is changed in size,\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 01100000b, \/\/ then the EXCITATION_TABLE_SIZE constant\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 00110000b, \/\/ must be changed\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 10010000b}\nFunctions\nmotorISR \/\/ Motor Interrupt Service Routine\n\u00a0\u00a0 \/\/ Modifies global variables leftExcitationCntr and rightExcitationCntr as a function of motorState.\u00a0\n\u00a0\u00a0 \/\/ It uses these counters as indices to read the motor excitation from the table and outputs it to PORTB.\n\u00a0\u00a0 LocalVariables leftExcitation, rightExcitation\n\u00a0\u00a0 if (motorState is RIGHT_FORWARD)\n\u00a0\u00a0\u00a0\u00a0\u00a0 if (rightExcitationCntr = EXCITATION_TABLE_SIZE-1)\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 rightExcitationCntr = 0\n\u00a0\u00a0\u00a0\u00a0\u00a0 else\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 increment rightExcitationCntr\n\u00a0\u00a0\u00a0\u00a0\u00a0 rightExcitation = excitations[rightExcitationCntr]\n\u00a0\u00a0 else if (motorState is RIGHT_BACKWARD)\n\u00a0\u00a0\u00a0\u00a0\u00a0 if (rightExcitationCntr = 0)\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 rightExcitationCntr = EXCITATION_TABLE_SIZE-1\n\u00a0\u00a0\u00a0\u00a0\u00a0 else\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 decrement rightExcitationCntr\n\u00a0\u00a0\u00a0\u00a0\u00a0 rightExcitation = excitations[rightExcitationCntr] \u00a0\u00a0\u00a0\u00a0\u00a0\n\u00a0\u00a0 else if (motorState is RIGHT_HOLD)\n\u00a0\u00a0\u00a0\u00a0\u00a0 rightExcitation = excitations[rightExcitationCntr]\n\u00a0\u00a0 else \/\/ RIGHT_IDLE\n\u00a0\u00a0\u00a0\u00a0\u00a0 rightExcitation = 0\n\u00a0\u00a0 shift rightExcitation 4 bits right\n\u00a0\u00a0 if (motorState is LEFT_FORWARD)\n\u00a0\u00a0\u00a0\u00a0\u00a0 if (leftExcitationCntr = EXCITATION_TABLE_SIZE-1)\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 leftExcitationCntr = 0\n\u00a0\u00a0\u00a0\u00a0\u00a0 else\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 increment leftExcitationCntr\n\u00a0\u00a0\u00a0\u00a0\u00a0 leftExcitation = excitations[leftExcitationCntr] \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\n\u00a0\u00a0 else if (motorState is LEFT_BACKWARD)\n\u00a0\u00a0\u00a0\u00a0\u00a0 if (leftExcitationCntr = 0)\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 leftExcitationCntr = EXCITATION_TABLE_SIZE-1\n\u00a0\u00a0\u00a0\u00a0\u00a0 else\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 decrement leftExcitationCntr\n\u00a0\u00a0\u00a0\u00a0\u00a0 leftExcitation = excitations[leftExcitationCntr] \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\n\u00a0\u00a0 else if (motorState is LEFT_HOLD)\n\u00a0\u00a0\u00a0\u00a0\u00a0 leftExcitation = excitations[leftExcitationCntr] \u00a0\u00a0\u00a0\u00a0\n\u00a0\u00a0 else\n\u00a0\u00a0\u00a0\u00a0\u00a0 leftExcitation = 0\n\u00a0\u00a0 PORTB = leftExcitation + rightExcitation\nend motorISR\ninterrupt\u00a0 \/\/ Main interrupt service routine gets control when TMR0 overflows\n\u00a0\u00a0 if (TMR0 overflowed causing an interrupt)\n\u00a0\u00a0\u00a0\u00a0\u00a0 bit 4 of PORTA = 1 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ signal motor step on\n\u00a0\u00a0\u00a0\u00a0\u00a0 call motorISR \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ call motor interrupt service routine\n\u00a0\u00a0\u00a0\u00a0\u00a0 bit 4 of PORTA = 0 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ signal motor step off\n\u00a0\u00a0\u00a0\u00a0\u00a0 TMR0 = TMR0_CNT_UP; \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ reset TMR0 to proper count\nend interrupt\nmain\n\u00a0\u00a0 set TMR0 prescaler = 64\u00a0\u00a0\u00a0\u00a0 \/\/ divides clock by value set\n\u00a0\u00a0 bit 4 of PORTA = 0 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ signal motor step off\n\u00a0\u00a0 leftExcitationCntr\u00a0 = 0\n\u00a0\u00a0 rightExcitationCntr = 0\n\u00a0\u00a0 TMR0 =\u00a0 TMR0_CNT_UP;\n\u00a0\u00a0 enable TMR0 interrupts\n\u00a0\u00a0 while (1) \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ continuously update motorState (and wait\n\u00a0\u00a0\u00a0\u00a0\u00a0 motorState = PORTA \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/\u00a0\u00a0 for a TMR0 interrupt)\nend main<\/pre>\n\n\n\n
\u062c\u0645\u0639 \u0628\u0646\u062f\u06cc<\/h2>\n\n\n\n
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