Mobilní robot

 
 /**************************
 Chip type               : ATmega16
 Program type            : Application
 AVR Core Clock frequency: 18,423000 MHz
 Memory model            : Small
 External RAM size       : 0
 Data Stack size         : 256
 **************************/
 
 #include <mega16.h>
 #include <stdio.h>  
 #include <stdlib.h>
 #define F_CPU 18423000
 #include <delay.h>
 
 #define ADC_VREF_TYPE 0x60
 int hrana;
 bit por0;
 
 //Deklarace globálních proměnných
 unsigned int read_adc(unsigned char kanal)  {
 ADMUX=kanal;  
    ADCSRA|=0x40;  
    while ((ADCSRA & 0x10)==0);  
    ADCSRA|= 0x10;  
 return ADCW;
 } 
 
 
 void main(void)
 {
 
 // Input/Output Ports initialization
 // Port A initialization
 PORTA=0x00;
 DDRA=0x00;
 
 // Port B initialization
 PORTB=0x00;
 DDRB=0x00;
 
 // Port C initialization
 PORTC=0x00;
 DDRC=0xC0;
 
 // Port D initialization
 PORTD=0x00;
 DDRD=0b11111111;
 
 // Timer/Counter 0 initialization
 // Clock source: System Clock
 // Clock value: Timer 0 Stopped
 // Mode: Normal top=0xFF
 // OC0 output: Disconnected
 TCCR0=0x00;
 TCNT0=0x00;
 OCR0=0x00;
 
 // Timer/Counter 1 initialization
 // Clock source: System Clock
 // Clock value: Timer1 Stopped
 // Mode: Normal top=0xFFFF
 // OC1A output: Discon.
 // OC1B output: Discon.
 // Noise Canceler: Off
 // Input Capture on Falling Edge
 // Timer1 Overflow Interrupt: Off
 // Input Capture Interrupt: Off
 // Compare A Match Interrupt: Off
 // Compare B Match Interrupt: Off
 TCCR1A=0x00;
 TCCR1B=0x00;
 TCNT1H=0x00;
 TCNT1L=0x00;
 ICR1H=0x00;
 ICR1L=0x00;
 OCR1AH=0x00;
 OCR1AL=0x00;
 OCR1BH=0x00;
 OCR1BL=0x00;
 
 // Timer/Counter 2 initialization
 // Clock source: System Clock
 // Clock value: Timer2 Stopped
 // Mode: Normal top=0xFF
 // OC2 output: Disconnected
 ASSR=0x00;
 TCCR2=0x00;
 TCNT2=0x00;
 OCR2=0x00;
 
 // External Interrupt(s) initialization
 // INT0: Off
 // INT1: Off
 // INT2: Off
 MCUCR=0x00;
 MCUCSR=0x00;
 
 // Timer(s)/Counter(s) Interrupt(s) initialization
 TIMSK=0x00;
 
 // USART initialization
 // USART disabled
 UCSRB=0x00;
 
 // Analog Comparator initialization
 // Analog Comparator: Off
 // Analog Comparator Input Capture by Timer/Counter 1: Off
 ACSR=0x80;
 SFIOR=0x00;
 
 // ADC initialization
 // ADC Clock frequency: 575,719 kHz
 // ADC Voltage Reference: AVCC pin
 // ADC Auto Trigger Source: Free Running
 // Only the 8 most significant bits of
 // the AD conversion result are used
 ADMUX=ADC_VREF_TYPE & 0xff;
 ADCSRA=0xA5;
 SFIOR&=0x1F;
 
 // SPI initialization
 // SPI disabled
 SPCR=0x00;
 
 // TWI initialization
 // TWI disabled
 TWCR=0x00;
 
 DDRC=0b00000011; //bity 7. až 3. nastaveny jako vstupní, ostatní výstupní = připojeny LED
 DDRA=0b00000000; //všechny bity vstupní
 PORTC=0b00000011; // na bitech 1. a 0. připojeny LED  log. "1"
 delay_ms(200);
 PORTC=0b00000001; // na bit 0. log. "1"
 delay_ms(200);
 PORTC=0b00000010; // na bit 1. log. "1"
 delay_ms(2000);
 hrana=(read_adc(0)+read_adc(1))/2;
 PORTC=0b00000000;
       while(1){
       if ((read_adc(0)<hrana)*(read_adc(1)<hrana)*(read_adc(2)<hrana)*(read_adc(3)<hrana)){
       PORTD=0b00100111; //0000 - 00L00PLP
       };
       if ((read_adc(0)>hrana)*(read_adc(1)<hrana)*(read_adc(2)<hrana)*(read_adc(3)<hrana)){
       PORTD=0b01101011; //1000 – OPL000LP
       };
       if ((read_adc(0)<hrana)*(read_adc(1)<hrana)*(read_adc(2)<hrana)*(read_adc(3)>hrana)){
       PORTD=0b01101011; //0001 – 0PL000LP
       }; 
       if ((read_adc(0)<hrana)*(read_adc(1)>hrana)*(read_adc(2)<hrana)*(read_adc(3)<hrana)){
       PORTD=0b01011011; //0100 – 0P0L00LP
       }
       if ((read_adc(0)<hrana)*(read_adc(1)<hrana)*(read_adc(2)>hrana)*(read_adc(3)<hrana)){ 
       PORTD=0b00100111; //0010 - 00L00PLP
       }; 
       if ((read_adc(0)<hrana)*(read_adc(1)<hrana)*(read_adc(2)>hrana)*(read_adc(3)<hrana)){
       PORTD=0b00100111; //0010 - 00L00PLP
       };
        if ((read_adc(0)>hrana)*(read_adc(1)>hrana)*(read_adc(2)>hrana)*(read_adc(3)> hrana)){
         if (por0){
            PORTD=0b01011011; //1111 – 0P0L00LP
            delay_ms(100);
            PORTD=0b01101011; //1111 – 0PL000LP
            delay_ms(2000);
            por0=0;}else{       
           PORTD=0b00100111; //1111 – 00L00PLP
            delay_ms(200);
             por0=1;
             };
           };
        if ((read_adc(0)<hrana)*(read_adc(1)>hrana)*(read_adc(2)>hrana)*(read_adc(3)<hrana)){
       PORTD=0b01100011; //0110 – 0PL000LP
       };
       if ((read_adc(0)>hrana)*(read_adc(1)>hrana)*(read_adc(2)<hrana)*(read_adc(3)<hrana)){
       PORTD=0b01010001; //1100 – 0P0L000P
       };
       if ((read_adc(0)<hrana)*(read_adc(1)<hrana)*(read_adc(2)>hrana)*(read_adc(3)>hrana)){
       PORTD=0b00100110; //0011 – 00L00PLP
       };
       if ((read_adc(0)<hrana)*(read_adc(1)>hrana)*(read_adc(2)>hrana)*(read_adc(3)>hrana)){
       PORTD=0b00100110; //0111 – 00L00PL0
       };
       if ((read_adc(0)>hrana)*(read_adc(1)>hrana)*(read_adc(2)>hrana)*(read_adc(3)<hrana)){
       PORTD=0b00100101; //1110 – 00L00P0P
       };       
 }