Código del Programa

Programa AVR-BASCON

Para la programación de el Microcontrolador

Digitación del Programa

Código del Programa

'*************************

'Carro Seguidor de Linea / Bigotes (Detector de Obstaculos)

'ATMEGA168

'CNY70

'Principios de Robotica

'Lucia, Rafael, Carmen y Ricardo

'*************************

'//Directivas

$regfile = "m168def.dat"

$crystal = 8000000

'//Configuraciones

 Configurar los pines de entrada y salidas, asi como los manejos de las velocidades de los motores

'//Alias

Asignaciones de Varias

'Sensores Alias Pinc

Big_1 Alias Pind.0

Big_2 Alias Pind.1

Led_centro Alias Portd.2

Giro_izq Alias Pwm1a

Giro_der Alias Pwm1b

Buzzer Alias Portb.5

'//Dimensionamiento

Dimencionamientos de las variables a utilizar

'// Inicializaciones

Sensores = 0 : Portb.6 = 1

Waitms 200 : Portb.6 = 0

Sound Buzzer , 500 , 500

Portd.2 = 1

Waitms 500

Portd.2 = 0

Waitms 500

Portd.2 = 1

Waitms 500

Portd.2 = 0

Waitms 500

Portd.2 = 1

Waitms 500

Portb.6 = 1 : Portb.7 = 1 : Portd.5 = 1 : Portd.6 = 1

Waitms 200

Portb.6 = 1 : Portb.7 = 0 : Portd.5 = 1 : Portd.6 = 1

Waitms 200

Portb.6 = 1 : Portb.7 = 1 : Portd.5 = 0 : Portd.6 = 1

Waitms 200

Portb.6 = 0 : Portb.7 = 1 : Portd.5 = 1 : Portd.6 = 1

Waitms 200

Portb.6 = 0 : Portb.7 = 1 : Portd.5 = 1 : Portd.6 = 0

Waitms 200

Portb.6 = 1 : Portb.7 = 0 : Portd.5 = 0 : Portd.6 = 1

Waitms 200

'//Programa Principal

Inicio:

 If Big_1 = 0 And Big_2 = 1 Then Gosub Obstaculo_d

 If Big_1 = 1 And Big_2 = 0 Then Gosub Obstaculo_i

 If Big_1 = 1 And Big_2 = 1 Then Gosub Obstaculo_frente

If Sen_2 = 0 And Sen_3 = 0 And Sen_4 = 0 And Sen_5 = 0 And Big_1 = 0 And Big_2 = 0 Then Goto Detenido

If Sen_2 = 1 And Sen_3 = 0 And Sen_4 = 0 And Sen_5 = 1 And Big_1 = 0 And Big_2 = 0 Then Goto Adelante

If Sen_2 = 1 And Sen_3 = 0 And Sen_4 = 1 And Sen_5 = 1 And Big_1 = 0 And Big_2 = 0 Then Goto Giro_i_v1

If Sen_2 = 0 And Sen_3 = 0 And Sen_4 = 1 And Sen_5 = 1 And Big_1 = 0 And Big_2 = 0 Then Goto Giro_i_v2

If Sen_2 = 0 And Sen_3 = 1 And Sen_4 = 1 And Sen_5 = 1 And Big_1 = 0 And Big_2 = 0 Then Goto Giro_i_v3

If Sen_2 = 1 And Sen_3 = 1 And Sen_4 = 0 And Sen_5 = 1 And Big_1 = 0 And Big_2 = 0 Then Goto Giro_d_v1

If Sen_2 = 1 And Sen_3 = 1 And Sen_4 = 0 And Sen_5 = 0 And Big_1 = 0 And Big_2 = 0 Then Goto Giro_d_v2

If Sen_2 = 1 And Sen_3 = 1 And Sen_4 = 1 And Sen_5 = 0 And Big_1 = 0 And Big_2 = 0 Then Goto Giro_d_v3

If Sen_2 = 1 And Sen_3 = 1 And Sen_4 = 1 And Sen_5 = 1 And Big_1 = 0 And Big_2 = 0 Then Goto Rutina

Goto Inicio

'//Subrutinas

Obstaculo_d:

Sound Buzzer , 125 , 200

Pwm1a = 0 : Portb.0 = 0 : Portd.7 = 0

Pwm1b = 0 : Portb.4 = 0 : Portb.3 = 0

Waitms 500

Pwm1a = 70 : Portb.0 = 0 : Portd.7 = 1

Pwm1b = 70 : Portb.4 = 0 : Portb.3 = 1

Waitms 750

Pwm1a = 75 : Portb.0 = 1 : Portd.7 = 0

Pwm1b = 75 : Portb.4 = 0 : Portb.3 = 1

Waitms 500

Goto Inicio

Obstaculo_i:

Sound Buzzer , 125 , 200

Pwm1a = 0 : Portb.0 = 0 : Portd.7 = 0

Pwm1b = 0 : Portb.4 = 0 : Portb.3 = 0

Waitms 500

Pwm1a = 70 : Portb.0 = 0 : Portd.7 = 1

Pwm1b = 70 : Portb.4 = 0 : Portb.3 = 1

Waitms 750

Pwm1a = 75 : Portb.0 = 1 : Portd.7 = 0

Pwm1b = 75 : Portb.4 = 0 : Portb.3 = 1

Waitms 250

Goto Inicio

Obstaculo_frente:

Sound Buzzer , 125 , 200

Pwm1a = 0 : Portb.0 = 0 : Portd.7 = 0

Pwm1b = 0 : Portb.4 = 0 : Portb.3 = 0

Waitms 500

Pwm1a = 70 : Portb.0 = 0 : Portd.7 = 1

Pwm1b = 70 : Portb.4 = 0 : Portb.3 = 1

Waitms 750

Pwm1a = 75 : Portb.0 = 1 : Portd.7 = 0

Pwm1b = 75 : Portb.4 = 0 : Portb.3 = 1

Waitms 250

Goto Inicio

Detenido:

Pwm1a = 0 : Portb.0 = 1 : Portd.7 = 1

Pwm1b = 0 : Portb.4 = 1 : Portb.3 = 1

Goto Inicio

Adelante:

Pwm1a = 65 : Portb.0 = 1 : Portd.7 = 0

Pwm1b = 65 : Portb.4 = 1 : Portb.3 = 0

Goto Inicio

Atras:

Pwm1a = 65 : Portb.0 = 0 : Portd.7 = 1

Pwm1b = 65 : Portb.4 = 0 : Portb.3 = 1

Goto Inicio

'giro lentisimo

Giro_d_v1:

Pwm1a = 60 : Portb.0 = 1 : Portd.7 = 0

Pwm1b = 50 : Portb.4 = 1 : Portb.3 = 0

Goto Inicio

Giro_d_v2:

Pwm1a = 60 : Portb.0 = 1 : Portd.7 = 0

Pwm1b = 40 : Portb.4 = 1 : Portb.3 = 0

Goto Inicio

Giro_d_v3:

Pwm1a = 60 : Portb.0 = 1 : Portd.7 = 0

Pwm1b = 0 : Portb.4 = 1 : Portb.3 = 0

Goto Inicio

Giro_d_v4:

Pwm1a = 75 : Portb.0 = 1 : Portd.7 = 0

Pwm1b = 0 : Portb.4 = 1 : Portb.3 = 0

Goto Inicio

Giro_d_v5:

Pwm1a = 75 : Portb.0 = 1 : Portd.7 = 0

Pwm1b = 0 : Portb.4 = 1 : Portb.3 = 0

Goto Inicio

Giro_i_v1:

Pwm1a = 50 : Portb.0 = 1 : Portd.7 = 0

Pwm1b = 60 : Portb.4 = 1 : Portb.3 = 0

Goto Inicio

Giro_i_v2:

Pwm1a = 40 : Portb.0 = 1 : Portd.7 = 0

Pwm1b = 60 : Portb.4 = 1 : Portb.3 = 0

Goto Inicio

Giro_i_v3:

Pwm1a = 0 : Portb.0 = 1 : Portd.7 = 0

Pwm1b = 60 : Portb.4 = 1 : Portb.3 = 0

Goto Inicio

Giro_i_v4:

Pwm1a = 65 : Portb.0 = 1 : Portd.7 = 1

Pwm1b = 65 : Portb.4 = 1 : Portb.3 = 0

Goto Inicio

Giro_i_v5:

Pwm1a = 65 : Portb.0 = 0 : Portd.7 = 1

Pwm1b = 65 : Portb.4 = 1 : Portb.3 = 0

Goto Inicio

Rutina:

Pwm1a = 60 : Portb.0 = 1 : Portd.7 = 0

Pwm1b = 60 : Portb.4 = 0 : Portb.3 = 1

Goto Inicio

End