xmfa32
Joined: 01 Sep 2007
Posts: 4
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 01 Sep 2007 18:11 Line Follower Robot |
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Helo everyone.
I'm newbie in micro and robotic, i try to build one, from this site. http://www.kmitl.ac.th/~kswichit/LFrobot/LFrobot.htm.
That's robot is worked. But I need help to re-code using sdcc. From that site is using MC51. and this is original code :
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#include d:\mc51\8051io.h
#include d:\mc51\8051reg.h
extern register unsigned char speedleft,speedright;
register unsigned char high,low,flag,time;
main()
{
P1=0x40;
P3=0xff;
high = 80;
low = 30;
flag = 0;
time = 50;
Start();
while(1) {
P3|= 0x0f;
Run();
}
}
Start()
{
char exit,key;
exit =1;
while(exit)
{
key = P1;
if((key & 0x40)==0) exit=0;
}
}
Run()
{
char sensors;
sensors = (P3 &=0x0f);
if((sensors & 0x01)==0) {
TurnRight();
flag = 1; }
else if((sensors & 0x08)==0) {
TurnLeft();
flag = 2; }
else if(sensors == 0x09) {
Forward(high);
flag = 0; }
else if(((sensors==0x0b)||(sensors==0x0d))&&(flag==0))
Forward(low);
}
Forward(char speed)
{
P1=0x64;
speedright = speed+10;
speedleft = speed;
delay(time);
}
TurnRight()
{
P1=0x68;
speedright = low+5;
speedleft = low;
delay(time);
}
TurnLeft()
{
P1=0x54;
speedright = low+5;
speedleft = low;
delay(time);
}
Reverse(char speed)
{
P1=0x58;
speedright = speed;
speedleft = speed+5;
delay(time);
}
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In bold text, i guess that is function to generate speed of motor, but i still understand about tha function maybe it's PWM ?.
Can anybody explain me how to control speed the motor using 89c2051 in SDCC ?
sorry about my english 
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