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Line Detection Robot using PIC16F877

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helmyshahryl

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Hi, I am doing my final year project on Line Detection using PIC16F877 and I am writing my codes in C.
Can anyone check my coding?
Thank You.


//LiDTrans PIC Programming

#include <pic.h>

//Hardware:
//Using PIC16F877
//Clock = 4Mhz


//Configuration Fuses
#if defined(_16F877)
#warning PIC16F877 selected
__CONFIG(0x3FFD); //PIC16F877 Configuration Fuses
// - XT crystal oscillator

#else
#error Unsupported PICmicro MCU selected
#endif


//Global Variables
volatile unsigned TRISPC @ (unsigned) &TRISC; //declaration of TRISC as TRISPC
volatile unsigned PC @ (unsigned) &PORTC; //declaration of PC as PORTC - RF input signal
volatile unsigned TRISLNSR @ (unsigned) &TRISD; //declaration of TRISLNSR as TRISD
volatile unsigned LNSR @ (unsigned) &PORTD; //declaration of LNSR as PORTD - Line Sensor

static bit TRISMRF @ (unsigned) &TRISB*8+0; //TRISB0
static bit TRISMLF @ (unsigned) &TRISB*8+1; //TRISB1
static bit TRISMRFH @ (unsigned) &TRISB*8+2; //TRISB2
static bit TRISMLFH @ (unsigned) &TRISB*8+3; //TRISB3
static bit TRISMRR @ (unsigned) &TRISB*8+4; //TRISB4
static bit TRISMLR @ (unsigned) &TRISB*8+5; //TRISB5
static bit TRISMRX @ (unsigned) &TRISB*8+6; //TRISB6
static bit TRISMLX @ (unsigned) &TRISB*8+7; //TRISB7

static bit MRF @ (unsigned) &PORTB*8+0; //RB0 - Motor Right Forward
static bit MLF @ (unsigned) &PORTB*8+1; //RB1 - Motor Left Forward
static bit MRFH @ (unsigned) &PORTB*8+2; //RB2 - Motor Right Forward High
static bit MLFH @ (unsigned) &PORTB*8+3; //RB3 - Motor Left Forward High
static bit MRR @ (unsigned) &PORTB*8+4; //RB4 - Motor Right Reverse
static bit MLR @ (unsigned) &PORTB*8+5; //RB5 - Motor Left Reverse
static bit MRX @ (unsigned) &PORTB*8+6; //RB6 - Motor Right Stop
static bit MLX @ (unsigned) &PORTB*8+7; //RB7 - Motor Left Stop

static bit TRISJSR @ (unsigned) &TRISA*8+0; //TRISA0
static bit TRISJSL @ (unsigned) &TRISA*8+1; //TRISA1

static bit JSR @ (unsigned) &PORTA*8+0; //RA0 - Junction Sensor Right
static bit JSL @ (unsigned) &PORTA*8+1; //RA1 - Junction Sensor Left

static bit TRISUSW @ (unsigned) &TRISA*8+2; //TRISA2
static bit TRISOBS @ (unsigned) &TRISA*8+3; //TRISA3

static bit USW @ (unsigned) &PORTA*8+2; //RA2 - User Switch @Station
static bit OBS @ (unsigned) &PORTA*8+3; //RA3 - Obstacles Limit Switch


//initializing port function
void InitPort()
{
TRISPC = 0b00000111; //Determines RC0,RC1,RC2 as input
TRISLNSR = 0b00000111; //Determines RD0,RD1,RD2 as input

TRISMRF = 0; //Declare RB0 as output
TRISMLF = 0; //Declare RB1 as output
TRISMRFH = 0; //Declare RB2 as output
TRISMLFH = 0; //Declare RB3 as output
TRISMRR = 0; //Declare RB4 as output
TRISMLR = 0; //Declare RB5 as output
TRISMRX = 0; //Declare RB6 as output
TRISMLX = 0; //Declare RB7 as output

TRISJSR = 1; //Declare RA0 as input
TRISJSL = 1; //Declare RA1 as input

TRISUSW = 1; //Declare RA2 as input
TRISOBS = 1; //Declare RA3 as input

ADCON1 = 0b00001111; //Switch PORTA from analog mode to digital mode

PC = 0b00000000; //initialize PORTC to all 0
LNSR = 0b00000000; //initialize PORTD to all 0

MRF = 0; //initialize RB0=0
MLF = 0; //initialize RB1=0
MRFH = 0; //initialize RB2=0
MLFH = 0; //initialize RB3=0
MRR = 0; //initialize RB4=0
MLR = 0; //initialize RB5=0
MRX = 0; //initialize RB6=0
MLX = 0; //initialize RB7=0

JSR = 0; //initialize RA0=0
JSL = 0; //initialize RA1=0

USW = 0; //initialize RA2=0
OBS = 0; //initialize RA3=0
}

//500 Usec Delay function
void Delay500Us()
{
unsigned char cnt500Us = 165; // Delay Cycle to achieve 500Us delay
while(--cnt500Us != 0) // Delay Timing is approximately 3 usec per loop
continue; // Note this routine is for 4MHz crystal frequency
}

//100 msec Delay function
void Delay100ms()
{
unsigned char cnt100ms = 200; // 200 * 500 Usec = 100 msec

do
{
Delay500Us();
}while(--cnt100ms != 0);
}

//1 sec Delay function
void Delay1s()
{
unsigned char cnt1ms = 10; //10 * 100 msec = 1 sec

do
{
Delay100ms();
}while(--cnt1ms != 0);
}

//wait for user input function
void WaitUserInput()
{
while (PC == 0b00000000) // Loop and wait for LiDTrans received signal from RF transmitter
continue;
}

//wait for user press resume button
void UserSwitch()
{
while (USW == 0)
continue;
}

//Input from Line Detection Sensor
void LineSensor()
{
while (LNSR!=0b00000111)
{
switch(LNSR)
{
case 0b00000010: MRF = 1; MLF = 1; break;
case 0b00000011: MRF = 1; MLFH = 1; break;
case 0b00000001: MRX = 1; MLF = 1; break;
case 0b00000110: MRFH = 1; MLF = 1; break;
case 0b00000100: MRF = 1; MLX = 1; break;
}
}
}

//From Station A to Station B function
void A_to_B()
{
LineSensor();

while (JSR != 1 && JSL != 0) //detects junction sensor (01 = Station A)
LineSensor();

MRF = 1; MLR = 1; //from front, turn left

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

MRF = 1; MLR = 1; //U-turn at Station A

Delay1s();
Delay1s();

MRF = 0; MLR = 0;
MRX = 1; MLX = 1; //LiDTrans stop

UserSwitch(); //wait for user give command to indicates loading job is done

MRX = 0; MLX = 0;

LineSensor();

MRF = 1; MLR = 1; //from Station A, turn left

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

while (JSR != 0 && JSL != 1) //detects junction sensor (10 = Station B)
LineSensor();

MRR = 1; MLF = 1; //from front, turn right

Delay1s();

MRR = 0; MLF = 0;

LineSensor();

MRF = 1; MLR = 1; //U-turn at Station B

Delay1s();
Delay1s();

MRF = 0; MLR = 0;
MRX = 1; MLX = 1; //LiDTrans stop

UserSwitch(); //wait for user give command to indicates unloading job is done

MRX = 0; MLX = 0;

LineSensor();

MRF = 1; MLR = 1; //from Station B. turn left

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

while (JSR != 0 && JSL != 0) //detects junction sensor (00 = Base)
LineSensor();

MRF = 1; MLR = 1; //U-turn at Base

Delay1s();
Delay1s();

MRF = 0; MLR = 0;

//back to main()
}

//From Station A to Station C function
void A_to_C()
{
LineSensor();

while (JSR != 1 && JSL != 0) //detects junction sensor (01 = Station A)
LineSensor();

MRF = 1; MLR = 1; //from front, turn left

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

MRF = 1; MLR = 1; //U-turn at Station A

Delay1s();
Delay1s();

MRF = 0; MLR = 0;
MRX = 1; MLX = 1; //LiDTrans Stop

UserSwitch();

MRX = 0; MLX = 0;

LineSensor();

MRF = 1; MLR = 1; //from Station A, turn left

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

while (JSR != 1 && JSL != 1) //detects junction sensor (01 = Station C)
LineSensor();

MRF = 1; MLR = 1; //from front, turn left

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

MRF = 1; MLR = 1; //U-turn at Station C

Delay1s();
Delay1s();

MRF = 0; MLR = 0;
MRX = 1; MLX = 1; //LiDTrans stop

UserSwitch();

MRX = 0; MLX = 0;

LineSensor();

MRR = 1; MLF = 1; //from Station C, turn right

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

while (JSR != 0 && JSL != 0) //detects junction sensor (00 = Base)
LineSensor();

MRF = 1; MLR = 1; //U-turn at Base

Delay1s();
Delay1s();

MRF = 0; MLR = 0;

//back to main()
}

//From Station B to Station A function
void B_to_A()
{
LineSensor();

while (JSR != 0 && JSL != 1) //detects junction sensor (10 = Station B)
LineSensor();

MRR = 1; MLF = 1; //from front, turn right

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

MRF = 1; MLR = 1; //U-turn at Station B

Delay1s();
Delay1s();

MRF = 0; MLR = 0;
MRX = 1; MLX = 1; //LiDTrans stop

UserSwitch();

MRX = 0; MLX = 0;

LineSensor();

MRF = 1; MLR = 1; //from Station B, turn left

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

while (JSR != 1 && JSL != 0) //detects junction sensor (01 = Station A)
LineSensor();

MRR = 1; MLF = 1; //from back, turn right

Delay1s();

MRR = 0; MLF = 0;

LineSensor();

MRF = 1; MLR = 1; //U-turn at Station A

Delay1s();
Delay1s();

MRF = 0; MLR = 0;
MRX = 1; MLX = 1; //LiDTrans stop

UserSwitch();

MRX = 0; MLX = 0;

LineSensor();

MRR = 1; MLF = 1; //from Station A, turn right

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

while (JSR != 0 && JSL != 0) //detects junction sensor (00 = Base)
LineSensor();

MRF = 1; MLR = 1; //U-turn at Base

Delay1s();
Delay1s();

MRF = 0; MLR = 0;

//back to main()
}

//From Station B to Station C function
void B_to_C()
{
LineSensor();

while (JSR != 0 && JSL != 1) //detects junction sensor (10 = Station B)
LineSensor();

MRR = 1; MLF = 1; //from front, turn right

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

MRF = 1; MLR = 1; //U-turn at Station B

Delay1s();
Delay1s();

MRF = 0; MLR = 0;
MRX = 1; MLX = 1; //LiDTrans stop

UserSwitch();

MRX = 0; MLX = 0;

LineSensor();

MRR = 1; MLF = 1; //from Station B, turn right

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

while (JSR != 1 && JSL != 1) //detects junction sensor (11 = Station C)
LineSensor();

MRF = 1; MLR = 1; //from front, turn left

Delay1s();

MRR = 0; MLF = 0;

LineSensor();

MRF = 1; MLR = 1; //U-turn at Station C

Delay1s();
Delay1s();

MRF = 0; MLR = 0;
MRX = 1; MLX = 1; //LiDTrans stop

UserSwitch();

MRX = 0; MLX = 0;

LineSensor();

MRR = 1; MLF = 1; //from Station C, turn right

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

while (JSR != 0 && JSL != 0) //detects junction sensor (00 = Base)
LineSensor();

MRF = 1; MLR = 1; //U-turn at Base

Delay1s();
Delay1s();

MRF = 0; MLR = 0;

//back to main()
}

//From Station C to Station A function
void C_to_A()
{
LineSensor();

while (JSR != 1 && JSL != 1) //detects junction sensor (11 = Station C)
LineSensor();

MRF = 1; MLR = 1; //from front, turn left

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

MRF = 1; MLR = 1; //U-turn at Station C

Delay1s();
Delay1s();

MRF = 0; MLR = 0;
MRX = 1; MLX = 1; //LiDTrans stop

UserSwitch();

MRX = 0; MLX = 0;

LineSensor();

MRR = 1; MLF = 1; //from Station C, turn right

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

while (JSR != 1 && JSL != 0) //detects junction sensor (01 = Station A)
LineSensor();

MRR = 1; MLF = 1; //from back, turn right

Delay1s();

MRR = 0; MLF = 0;

LineSensor();

MRF = 1; MLR = 1; //U-turn a station A

Delay1s();
Delay1s();

MRF = 0; MLR = 0;
MRX = 1; MLX = 1; //LiDTrans stop

UserSwitch();

MRX = 0; MLX = 0;

LineSensor();

MRR = 1; MLF = 1; //from Station A, turn right

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

while (JSR != 0 && JSL != 0) //detects junction sensor (00 = Base)
LineSensor();

MRF = 1; MLR = 1; //U-turn at Base

Delay1s();
Delay1s();

MRF = 0; MLR = 0;

//back to main()
}

//From Station C to Station B function
void C_to_B()
{
LineSensor();

while (JSR != 1 && JSL != 1) //detects junction sensor (11 = Station C)
LineSensor();

MRF = 1; MLR = 1; //from front, turn left

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

MRF = 1; MLR = 1; //U-turn at Station C

Delay1s();
Delay1s();

MRF = 0; MLR = 0;
MRX = 1; MLX = 1; //LiDTrans stop

UserSwitch();

MRX = 0; MLX = 0;

LineSensor();

MRR = 1; MLF = 1; //from Station C, turn right

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

while (JSR != 0 && JSL != 1) //detects junction sensor (10 = Station B)
LineSensor();

MRF = 1; MLR = 1; //from back, turn left

Delay1s();

MRR = 0; MLF = 0;

LineSensor();

MRF = 1; MLR = 1; //U-turn at Station B

Delay1s();
Delay1s();

MRF = 0; MLR = 0;
MRX = 1; MLX = 1; //LiDTrans stop

UserSwitch();

MRX = 0; MLX = 0;

LineSensor();

MRF = 1; MLR = 1; //from Station B, turn left

Delay1s();

MRF = 0; MLR = 0;

LineSensor();

while (JSR != 0 && JSL != 0) //detects junction sensor (00 = Base)
LineSensor();

MRF = 1; MLR = 1; //U-turn at Base

Delay1s();
Delay1s();

MRF = 0; MLR = 0;

//back to main()
}


//main function
void main()
{
while (1 == 1)
{
InitPort(); //call initializing port function
WaitUserInput(); //call waiting for user input function
if (PC == 0b00000001)
A_to_B(); //call function station A to station B
else if (PC == 0b00000010)
A_to_C(); //call function station A to C
else if (PC == 0b00000011)
B_to_A(); //call function station B to A
else if (PC == 0b00000100)
B_to_C(); //call function station B to C
else if (PC == 0b00000101)
C_to_A(); //call function station C to A
else if (PC == 0b00000110)
C_to_B(); //call function station C to B
}
}
 

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