Nusrat Mary
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for(j=4; j>=0 ;j--)
{PORTD=1<<j;
Code C - [expand] 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 int i,j,k,l,m,n,p,q,r,s,t,u,v,w,a; char current_duty; void Tone1() { Sound_Play(1600, 70); // Frequency = 1200Hz, duration = 70ms } void PWM1_Start(); void PWM1_Stop(); void main() { //DDRA=0xFF; //DDRB=0xFF; DDRD=0xFF; //Base stepper motor DDRC=0xFF; // from C0 to C3 bit 2nd stepper motor connected & from C4 bit ti C8 bit 3rd motor connected DDB3_bit = 1; // Set PORTB pin 3 as output pin for the PWM (according to datasheet) current_duty=32 ; PWM1_Init(_PWM1_FAST_MODE, _PWM1_PRESCALER_8, _PWM1_NON_INVERTED, current_duty); Sound_Init(&PORTB,1); // Initialize sound pin delay_ms(50); while(1) {Tone1(); delay_ms(100); //wait for a while for 1st working process. PORTD=0x00; for(i=0; i<4 ;i++) //loop for 1st stepper motor to rotate 180 {PORTD=1<<i; delay_ms(50);} delay_ms(100); PWM1_Set_Duty(190); //loop for servo to pick object PWM1_Start(); delay_ms(300); PWM1_Stop(); delay_ms(100); Tone1(); delay_ms(50); for(j=4; j>=0 ;j--) {PORTD=1<<j; delay_ms(50);} PWM1_Set_Duty(19); //loop for servo motor to put the object. PWM1_Start(); delay_ms(300); PWM1_Stop(); delay_ms(100); Tone1(); delay_ms(100); //2nd working process for(k=0; k<4 ;k++) //loop for stepper motor to rotate 180 degree. {PORTC=1<<k; delay_ms(50);} delay_ms(100); for(l=4; l<=8 ;l++) {PORTC=1<<l; delay_ms(50);} delay_ms(100); PWM1_Set_Duty(190); //loop for servo motor take the object. PWM1_Start(); delay_ms(300); PWM1_Stop(); delay_ms(50); Tone1(); delay_ms(50); for(m=3; m>=0 ;m--) //loop for stepper motor for to go to 0 degree {PORTC=1<<m; delay_ms(50);} delay_ms(100); for(n=8; n>=4 ;n--) {PORTC=1<<n; delay_ms(50);} delay_ms(100); PWM1_Set_Duty(25); //loop for servo motor to put the object. PWM1_Start(); delay_ms(300); PWM1_Stop(); delay_ms(50); Tone1(); delay_ms(50); } }
for(i = 0; i < 4 ; i++) //loop for 1st stepper motor to rotate 180
{
PORTD = 1 << i;
delay_ms(50);
}
for(j = 4; j >= 0 ; j--)
{
PORTD = 1 << j;
delay_ms(50);
}
for(l = 4; l <= 8 ; l++)
{
PORTC = 1 << l;
delay_ms(50);
}
for(m = 3; m >= 0 ; m--) //loop for stepper motor for to go to 0 degree
{
PORTC = 1 << m;
delay_ms(50);
}
for(n = 8; n >= 4 ; n--)
{
PORTC = 1 << n;
delay_ms(50);
}
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