RobotrafficRobotraffic

software and programming aidssoftware and programming aids

Robotics LaboratoryRobotics Laboratory

Faculty of Mechanical EngineeringFaculty of Mechanical Engineering

Technion Israel Institute of Technion Israel Institute of TechnologyTechnology

PICKit 2

RS232

IrDA

Encoder

Run/Stop

5Vdc out

Power input

Strip sensor Distance Sensor Servo Motor

DC Motor

Select

rs232 Select

rs232 or IrDA

BUS jumpers

Fuse 5A

Car main boardCar main board

Reset

PICKit 2 (J3)1 - pin Vpp2 – pin Vdd3 – pin Gnd4 – pin PGD5 - pin PGC

RS232 (J1)1 – pin RX2 - pin Gnd3 – pin TX

IrDA (J9)1 –pin Vdd2 – pin Gnd3 – pin RXIr4 – pin TXIr

Encoder (J13)1 – pin Vdd2 – pin Gnd3 – pin QEA4 – pin QEB5 – pin Index

Run/Stop (J15)Open RC2->HighClose RC2 -> Low

5Vdc out (J16)1 – pin +5Vdc2 - Gnd

Reset (J6)1 – pin Reset2 - Gnd

Power input (J2)1 – pin (+) Battery2 – pin (-) Battery

Strip sensor (J11)1 – pin Vdd2 – pin Gnd3 – pin Left4 – pin BL5 – pin BR6 – pin Right7 – pin Stop

Distance Sensor (J12)1 – pin Vdd2 – pin Gnd3 - pin Left4 – pin Right

Servo Motor (J14)1 –pin Vm2 – pin Input3 – pin Gnd

DC Motor (J10)1 – pin (+)Motor2 – pin (-)Motor

BUS jumpers

Fuse 5A

1-2 close RS232

2-3 close IrDA

Car main boardCar main board

PIC18F4431 external device connection jumpersPIC18F4431 external device connection jumpers

PIC18F4431 PORTAPIC18F4431 PORTA

TRISA = 0x00; TRISA0 = 0; PORTA = 0xFA; RA0 = 1;TRISA = 0xFF; TRISA0 = 1; char a = PORTA;

Exercise_1 Port setup

#include<htc.h>

char a = 0x55;

void main(void) { TRISA = 0xf0; // b11111111 all bits, are input TRISA6 = 0; // bit RA6 set to output

PORTA = a;

}

#include<htc.h>#include<htc.h>char a;char a;void initialization (void);void initialization (void);void interrupt ISR(void);void interrupt ISR(void);

/*==============================================================*//*==============================================================*/void initialization (void)void initialization (void)

{{/* Interrupt init *//* Interrupt init */

IPENIPEN = 1;= 1; /* Interrupt Priority Enable bit, 1 = Enable priority levels on interrupts /* Interrupt Priority Enable bit, 1 = Enable priority levels on interrupts */*/

/* 0 = Disable priority levels on interrupts *//* 0 = Disable priority levels on interrupts */ GIEHGIEH = 1;= 1; /* Enables all high priority interrupts *//* Enables all high priority interrupts */GIELGIEL = 1;= 1; /* Enables all low priority peripheral interrupts *//* Enables all low priority peripheral interrupts */

/* init TMR0 *//* init TMR0 */T0CONT0CON = 0x46;= 0x46; /* 16-bit 1:2 prescale value *//* 16-bit 1:2 prescale value */TMR0LTMR0L = 0x80;= 0x80; /* prescaler for the Timer0 module *//* prescaler for the Timer0 module */TMR0HTMR0H = 0x00;= 0x00; /* prescaler for the Timer0 module *//* prescaler for the Timer0 module */

TMR0IPTMR0IP = 1;= 1; /* TMR0 Overflow Interrupt Priority bit, High priority *//* TMR0 Overflow Interrupt Priority bit, High priority */TMR0IETMR0IE = 1;= 1; /* Enables the TMR0 overflow interrupt *//* Enables the TMR0 overflow interrupt */TMR0IFTMR0IF = 0;= 0; /* TMR0 Overflow Interrupt Flag bit *//* TMR0 Overflow Interrupt Flag bit */

/* I/O ports *//* I/O ports */TRISATRISA = 0xff;= 0xff; /* Port A data direction *//* Port A data direction */TRISBTRISB = 0x00;= 0x00; /* Port B data direction *//* Port B data direction */

}}/*==============================================================*//*==============================================================*/void interrupt ISR(void)void interrupt ISR(void)

{{if((TMR0IF)&&(TMR0IE))if((TMR0IF)&&(TMR0IE))

{{ PORTB = a;PORTB = a; a++;a++;

TMR0LTMR0L = 0x80;= 0x80; /* prescaler for the Timer0 module *//* prescaler for the Timer0 module */ TMR0HTMR0H = 0x00;= 0x00; /* prescaler for the Timer0 module *//* prescaler for the Timer0 module */

TMR0IFTMR0IF = 0;= 0; /* TMR0 Overflow Interrupt Flag bit *//* TMR0 Overflow Interrupt Flag bit */}}

}}

/*==============================================================*//*==============================================================*/void main (void)void main (void){{ initialization ();initialization (); TMR0ON = 1; /* Timer0 On/Off Control bit, 1 = Enables Timer0 */TMR0ON = 1; /* Timer0 On/Off Control bit, 1 = Enables Timer0 */ while(1)while(1) { { } } }}

ENHANCED UNIVERSAL SYNCHRONOUS ASYNCHRONOUS RECEIVER TRANSMITTER (EUSART)