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#Include XCH

The document is a C program for controlling a robotic arm using a PIC microcontroller. It includes functionalities for manual control, recording movements, and playback of recorded sequences, with an LCD interface for user interaction. The program also includes EEPROM operations for storing and retrieving movement data and a keypad for input commands.

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samir200070201
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4 views9 pages

#Include XCH

The document is a C program for controlling a robotic arm using a PIC microcontroller. It includes functionalities for manual control, recording movements, and playback of recorded sequences, with an LCD interface for user interaction. The program also includes EEPROM operations for storing and retrieving movement data and a keypad for input commands.

Uploaded by

samir200070201
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

#include

#include <xc.h>
#include"stdio.h"
#include "lcd.h"
#pragma config FOSC = HS
#pragma config WDTE = OFF
#pragma config PWRTE = OFF
#pragma config BOREN = ON
#pragma config LVP = OFF
#pragma config CPD = OFF
#pragma config WRT = OFF
#pragma config CP = OFF
#ifndef _XTAL_FREQ
#define _XTAL_FREQ 8000000
#endif
#define ROW0 PORTCbits.RC0
#define ROW1 PORTCbits.RC1
#define ROW2 PORTCbits.RC2
#define ROW3 PORTCbits.RC3
#define COL0 PORTCbits.RC4
#define COL1 PORTCbits.RC5
#define COL2 PORTCbits.RC6
#define X_DIR_BIT PORTBbits.RB0
#define X_STEP_BIT PORTBbits.RB1
#define Y_DIR_BIT PORTBbits.RB2
#define Y_STEP_BIT PORTBbits.RB3
const unsigned char Z_seq[4] = {0x10,0x20,0x40,0x80};
static unsigned char zPos = 0;
unsigned int step_delay_extra_us = 600;
#define MAX_BLOQUES 40
#define EEPROM_COUNTER_ADDR 250
static unsigned char contador_bloques = 0;
char leer_tecla(void);
void pantalla_inicio(void);
void menu_navegable(void);
void pantalla_control_init(void);
void pantalla_control_update(char sx,char sy,char sz,char tecla);
void modo_manual(void);
void modo_grabacion(void);
void modo_reproduccion(void);
void moverX(unsigned char sentido);
void moverY(unsigned char sentido);
void moverZ(unsigned char sentido);
void parar_todos(void);
void EEPROM_Write(unsigned char addr, unsigned char data);
unsigned char EEPROM_Read(unsigned char addr);
void guardar_bloque_en_eeprom(unsigned char idx, unsigned char motor, unsigned char dir, unsign
ed char steps);
void guardar_contador_en_eeprom(unsigned char cnt);
unsigned char leer_contador_de_eeprom(void);
void lcd_print_uint3(unsigned int v);
void main(void)
{
ADCON1 = 0x07;
CMCON = 0x07;
TRISB = 0x00; PORTB = 0x00;
TRISD = 0x00; PORTD = 0x00;
TRISCbits.TRISC0 = 0;
TRISCbits.TRISC1 = 0;
TRISCbits.TRISC2 = 0;
TRISCbits.TRISC3 = 0;
TRISCbits.TRISC4 = 1;
TRISCbits.TRISC5 = 1;
TRISCbits.TRISC6 = 1;
TRISCbits.TRISC7 = 1;
PORTC &= 0xF0;
Lcd_Init();
__delay_ms(50);
pantalla_inicio();
unsigned char cnt = leer_contador_de_eeprom();
contador_bloques = (cnt <= MAX_BLOQUES) ? cnt : 0;
menu_navegable();
}
// PANTALLAS y MENU
void pantalla_inicio(void)
{
Lcd_Clear();
Lcd_Set_Cursor(1,1);
Lcd_Write_String("Brazo Robotico");
__delay_ms(10);
Lcd_Set_Cursor(2,8);
Lcd_Write_String("SG");
__delay_ms(1000);
}
void menu_navegable(void)
{
while (1) {
Lcd_Clear();
Lcd_Set_Cursor(1,1);
Lcd_Write_String("1-MANUAL 2-GRABAR");
Lcd_Set_Cursor(2,1);
Lcd_Write_String("3-REPRODUCIR");
char k = 0;
while (k == 0) {
k = leer_tecla();
__delay_ms(40);
}
if (k == '1') {
pantalla_control_init();
modo_manual();
}
else if (k == '2') {
contador_bloques = 0;
guardar_contador_en_eeprom(contador_bloques);
modo_grabacion();
}
else if (k == '3') {
modo_reproduccion();
}
__delay_ms(200);
}
}
//PANTALLA DE CONTROL
static char lastX = 0, lastY = 0, lastZ = 0, lastTecla = 0;
void pantalla_control_init(void)
{
Lcd_Clear();
Lcd_Set_Cursor(1,1);
Lcd_Write_String("X: Y: ");
Lcd_Set_Cursor(2,1);
Lcd_Write_String("Z: TECLA: ");
lastX = lastY = lastZ = lastTecla = 0;
}
void pantalla_control_update(char sx,char sy,char sz,char tecla)
{
if (sx != lastX) {
Lcd_Set_Cursor(1,3);
Lcd_Write_Char(sx);
lastX = sx;
}
if (sy != lastY) {
Lcd_Set_Cursor(1,8);
Lcd_Write_Char(sy);
lastY = sy;
}
if (sz != lastZ) {
Lcd_Set_Cursor(2,3);
if (sz == 'O') Lcd_Write_String("OPEN ");
else if (sz == 'C') Lcd_Write_String("CLOSE");
else Lcd_Write_String("STOP ");
lastZ = sz;
}
if (tecla != lastTecla) {
Lcd_Set_Cursor(2,13);
if (tecla == 0) Lcd_Write_String("--");
else Lcd_Write_Char(tecla);
lastTecla = tecla;
}
}
// MANUAL
void modo_manual(void)
{
char stateX='-', stateY='-', stateZ='S';
char tecla = 0;
while (1) {
char k = leer_tecla();
if (k == 0) {
stateX='-'; stateY='-'; stateZ='S';
tecla = 0;
} else {
switch(k){
case '2': moverX(1); stateX='>'; break;
case '8': moverX(0); stateX='<'; break;
case '4': moverY(1); stateY='>'; break;
case '6': moverY(0); stateY='<'; break;
case '1': moverZ(1); stateZ='O'; break;
case '3': moverZ(0); stateZ='C'; break;
case '5': parar_todos(); stateX='-'; stateY='-'; stateZ='S'; break;
case '#': return;
}
tecla = k;
}
pantalla_control_update(stateX,stateY,stateZ,tecla);
__delay_ms(10);
}
}
//GRABACIÓN
void modo_grabacion(void)
{
char prev = 0;
Lcd_Clear();
Lcd_Set_Cursor(1,1);
Lcd_Write_String("GRABANDO BLOQUES");
Lcd_Set_Cursor(2,1);
Lcd_Write_String("B:000/040 S:000");
while (leer_tecla() != 0) __delay_ms(40);
while (1) {
char k = leer_tecla();
Lcd_Set_Cursor(2,3);
lcd_print_uint3(contador_bloques);
Lcd_Set_Cursor(2,7);
Lcd_Write_String("/040");
if (k != 0 && prev == 0) {
unsigned char motor = 0, dir = 0;
unsigned int steps_count = 0;
if (k == '2') { motor = 1; dir = 1; }
else if (k == '8') { motor = 1; dir = 0; }
else if (k == '4') { motor = 2; dir = 1; }
else if (k == '6') { motor = 2; dir = 0; }
else if (k == '1') { motor = 3; dir = 1; }
else if (k == '3') { motor = 3; dir = 0; }
else if (k == '#') { __delay_ms(200); break; }
else { prev = k; __delay_ms(40); continue; }
while (leer_tecla() == k) {
if (motor==1) moverX(dir);
else if (motor==2) moverY(dir);
else if (motor==3) moverZ(dir);
steps_count++;
if (steps_count > 999) steps_count = 999;
Lcd_Set_Cursor(2,12);
lcd_print_uint3(steps_count);
__delay_ms(25);
}
if (steps_count > 0) {
if (contador_bloques < MAX_BLOQUES) {
unsigned char sbyte = (steps_count > 255) ? 255 : steps_count;
guardar_bloque_en_eeprom(contador_bloques,motor,dir,sbyte);
contador_bloques++;
guardar_contador_en_eeprom(contador_bloques);
}
}
}
prev = k;
__delay_ms(40);
}
Lcd_Clear();
Lcd_Set_Cursor(1,1);
Lcd_Write_String("Grabacion lista");
__delay_ms(800);
}
void modo_reproduccion(void)
{
while (1) {
unsigned char cnt = leer_contador_de_eeprom();
if (cnt > MAX_BLOQUES) cnt = 0;
contador_bloques = cnt;
if (contador_bloques == 0) {
Lcd_Clear();
Lcd_Set_Cursor(1,1);
Lcd_Write_String("Nada grabado");
__delay_ms(800);
return;
}
for (unsigned char i = 0; i < contador_bloques; i++) {
if (leer_tecla() == '#') return;
unsigned char base = i * 3;
unsigned char motor = EEPROM_Read(base+0);
unsigned char dir = EEPROM_Read(base+1);
unsigned char steps = EEPROM_Read(base+2);
Lcd_Clear();
Lcd_Set_Cursor(1,1);
Lcd_Write_String("Bloque ");
lcd_print_uint3(i+1);
Lcd_Write_String("/");
lcd_print_uint3(contador_bloques);
Lcd_Set_Cursor(2,1);
Lcd_Write_String("S:");
lcd_print_uint3(steps);
__delay_ms(100);
for (unsigned int s = 0; s < steps; s++) {
if (motor==1) moverX(dir);
else if (motor==2) moverY(dir);
else if (motor==3) moverZ(dir);
__delay_ms(25);
if (leer_tecla() == '#') return;
}
}
}
}
// ================= TECLADO =================
char leer_tecla(void)
{
const char teclas[4][3] = {
{'1','2','3'},
{'4','5','6'},
{'7','8','9'},
{'*','0','#'}
};
for (int f = 0; f < 4; f++) {
PORTC &= 0xF0;
__delay_us(40);
PORTCbits.RC0 = (f==0);
PORTCbits.RC1 = (f==1);
PORTCbits.RC2 = (f==2);
PORTCbits.RC3 = (f==3);
__delay_us(20);
if (COL0) return teclas[f][0];
if (COL1) return teclas[f][1];
if (COL2) return teclas[f][2];
}
return 0;
}
// ================= MOTORES =================
void moverX(unsigned char sentido)
{
X_DIR_BIT = sentido;
X_STEP_BIT = 1; __delay_us(5);
X_STEP_BIT = 0; __delay_us(5);
if (step_delay_extra_us > 10) __delay_us(step_delay_extra_us);
}
void moverY(unsigned char sentido)
{
Y_DIR_BIT = sentido;
Y_STEP_BIT = 1; __delay_us(5);
Y_STEP_BIT = 0; __delay_us(5);
if (step_delay_extra_us > 10) __delay_us(step_delay_extra_us);
}
void moverZ(unsigned char sentido)
{
if (sentido) zPos = (zPos + 1) & 0x03;
else zPos = (zPos - 1) & 0x03;
PORTB = (PORTB & 0x0F) | Z_seq[zPos];
__delay_ms(4);
}
void parar_todos(void)
{
PORTB &= 0x0F;
X_STEP_BIT = 0;
Y_STEP_BIT = 0;
}
void EEPROM_Write(unsigned char addr, unsigned char data)
{
EEADR = addr;
EEDATA = data;
[Link] = 0;
[Link] = 1;
unsigned char gie = [Link];
[Link] = 0;
EECON2 = 0x55;
EECON2 = 0xAA;
[Link] = 1;
while ([Link]);
[Link] = 0;
[Link] = gie;
}
unsigned char EEPROM_Read(unsigned char addr)
{
EEADR = addr;
[Link] = 0;
[Link] = 1;
return EEDATA;
}
void guardar_bloque_en_eeprom(unsigned char idx, unsigned char motor, unsigned char dir, unsign
ed char steps)
{
unsigned char base = idx * 3;
EEPROM_Write(base+0, motor);
EEPROM_Write(base+1, dir);
EEPROM_Write(base+2, steps);
}
void guardar_contador_en_eeprom(unsigned char cnt)
{
EEPROM_Write(EEPROM_COUNTER_ADDR, cnt);
}
unsigned char leer_contador_de_eeprom(void)
{
return EEPROM_Read(EEPROM_COUNTER_ADDR);
}
void lcd_print_uint3(unsigned int v)
{
if (v > 999) v = 999;
Lcd_Write_Char('0' + (v/100)%10);
Lcd_Write_Char('0' + (v/10)%10);
Lcd_Write_Char('0' + (v%10));
}

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