help: coding for line follower robot using microcontroller PIC18F4550

[Nurin Kyoto]

#include <htc.h>

__CONFIG(1,0x0F24);
__CONFIG(2,0X0000);

#define    _XTAL_FREQ        8000000        //using internal osc

#define UART_BAUD        9600




#define LEFT            RA0
#define M_LEFT1            RA1
#define M_LEFT2            RA2
#define MIDDLE_L        RA3
#define MIDDLE_R        RA4
#define M_RIGHT2        RA5
#define M_RIGHT1        RE0
#define RIGHT            RE1


void fast_line_follow(void);    
void adc_init(void);
unsigned int ui_adc_read(void);
void pwm_init(void);
void set_pwmr(unsigned char uc_duty_cycle);
void set_pwml(unsigned char uc_duty_cycle);
void delay_ms(unsigned int ui_value);
void beep(unsigned char uc_count);
void motor(unsigned char uc_left_motor_speed,unsigned char uc_right_motor_speed);

int main(void)
{
    
    // Initialize the I/O port direction.
    TRISA = 0b11111111;
    TRISB = 0b00000011;
    TRISC = 0b10011000;
    TRISD = 0;
    TRISE = 0b11111111;    
    
    // Initialize ADC.
    adc_init();
    
    // Initialize PWM.
    pwm_init();
    
    delay_ms(1500);            //wait for 1.5 second
    fast_line_follow();    
}

void delay_ms(unsigned int ui_value)
{
    while (ui_value-- > 0) {
        __delay_ms(1);
    }    
}    

void fast_line_follow(void)

{
    
    while(1)
    {
          PORTA = 0B00000000;
         PORTB = 0B01000100;
         PORTC = 0B00000110;
         PORTE = 0B11111100;     
    
    if((LEFT == 0)&&(M_LEFT1 == 1)&&(M_LEFT2 == 1)&&(MIDDLE_L == 1)&&(MIDDLE_R == 1)&&(M_RIGHT2 == 1)&&(M_RIGHT1 == 0)) //check middle, middle left and middle right sensor
                                                        //assuming black line, dark ON
        {        
            motor(85,85);    // robot move straight with both left and right motor moving at same speed
            //motor(uc_left_motor_speed, uc_right_motor_speed)            
        }
        
        else if((LEFT == 1)&&(M_LEFT1 == 1)&&(M_LEFT2 == 1)&&(MIDDLE_L == 1)&&(MIDDLE_R == 1)&&(M_RIGHT2 == 1)&&(M_RIGHT1 == 0)) // robot has move to left a little bit
        {            
            motor(80,85);    // robot turning to left
            //motor(120,200);
        }        
        
        else if((LEFT == 0)&&(M_LEFT1 == 1)&&(M_LEFT2 == 1)&&(MIDDLE_L == 1)&&(MIDDLE_R == 1)&&(M_RIGHT2 == 1)&&(M_RIGHT1 == 1)) // robot has move to right a little bit
        {            
            motor(85,80);    // robot turning to right
            //motor(200,120);
        }
        
        else if((LEFT == 1)&&(M_LEFT1 == 1)&&(M_LEFT2 == 1)&&(MIDDLE_L == 1)&&(MIDDLE_R == 1)&&(M_RIGHT2 == 0))    // robot has move to left
        {            
            motor(20,80);    // robot turning to Left, hard
            //motor(55,140);
        }
                
        else if((M_LEFT1 == 1)&&(M_LEFT2 == 1)&&(MIDDLE_L == 1)&&(MIDDLE_R == 1)&&(M_RIGHT2 == 1)&&(M_RIGHT1 == 1)&&(RIGHT == 1))// robot has move to right
        {        
            motor(80,20);    // robot turning to right, hard
            //motor(140,55);
        }    
        else if((LEFT == 1)&&(M_LEFT1 == 1)&&(M_LEFT2 == 0))    // robot has move to the most left side
        {            
            motor(0,80);    // robot turning to Left, hard
            //motor(0,150);
        }
                
        else if((M_RIGHT2 == 0)&&(M_RIGHT1 == 1)&&(RIGHT == 1))// robot has move to the most right site
        {        
            motor(80,0);    // robot turning to right, hard
            //motor(150,0);
        }    
    }//while(1)
    
}    

void adc_init(void)
{
    // A/D Conversion Clock = FOSC/32.
    ADCS1 = 1;
    ADCS0 = 0;
    
    // Set AN0 as analog input only, the rest is digital I/O.

    // Configure Vref (-) to Vss
    VCFG1 = 0;

    // Configure Vref (+) to Vdd
    VCFG0 = 0;

    // Configure the result to be right justified.
    ADFM = 1;
    
    // Turn OFF ADC by default.
    ADON = 0;
}    

extern unsigned int ui_adc_read(void)
{
    unsigned int temp = 0;
    // Select the ADC channel.
    CHS3 = 0;    //select channel 0
    CHS2 = 0;
    CHS1 = 0;
    CHS0 = 0;
    
    // Delay 5mS to fully charge the holding capacitor in the ADC module.
    __delay_ms(5);
    
    // Start the conversion and wait for it to complete.
    GODONE = 1;
    while (GODONE == 1);
    
    // Return the ADC result.
    temp = ADRESH << 8;
    temp = temp + ADRESL;
    return temp;
}    

void pwm_init(void)
{
    // Setting PWM frequency = 4.90KHz at 8MHz OSC Freq
    PR2 = 0x65;
    T2CKPS1 = 0;
    T2CKPS0 = 1;    // Timer 2 prescale = 4.
    
    CCPR1L = 0;        // Duty cycle = 0;
    TMR2ON = 1;        // Turn on Timer 2.    
    
    //configuration for CCP1CON
    P1M1 = 0;        //CCP1, P1A as single output
    P1M0 = 0;

    DC1B1 = 0;        // 2 LSB of 10 PWM, make it 00
    DC1B0 = 0;
    
    CCP1M3 = 1;        // Configure CCP1 module to operate in PWM mode.
    CCP1M2 = 1;        
    CCP1M1 = 0;
    CCP1M0 = 0;    
    
    //configuration for CCP2CON


    CCP2M3 = 1;        // Configure CCP1 module to operate in PWM mode.
    CCP2M2 = 1;        
    CCP2M1 = 0;
    CCP2M0 = 0;    
}    

void set_pwmr(unsigned char uc_duty_cycle)
{
    CCPR1L = uc_duty_cycle;
}    

void set_pwml(unsigned char uc_duty_cycle)
{
    CCPR2L = uc_duty_cycle;
}    

void motor(unsigned char uc_left_motor_speed,unsigned char uc_right_motor_speed)
{    
    //set the speed for left and right motor
    set_pwmr(uc_right_motor_speed);
    set_pwml(uc_left_motor_speed);    
}

this coding for pwm is not function. ccp1 always in high low (blinking). please help me..thanks

[FloridaJo]

You've got a better chance of getting an answer if you narrow
down where you problem is and be a bit more specific on what the problem is.
If it is more PIC specific, you may have better luck at this forum:
16-Bit Core (instructions, reset, WDT, specifications...) PIC17Cxx, PIC18Fxxx

[Nurin Kyoto]

void pwm_init(void){
    // Setting PWM frequency = 4.90KHz at 8MHz OSC Freq
    PR2 = 0x65;
    T2CKPS1 = 0;
    T2CKPS0 = 1;    // Timer 2 prescale = 4.
     
    CCPR1L = 0;        // Duty cycle = 0;
    TMR2ON = 1;        // Turn on Timer 2.    
     
    //configuration for CCP1CON
    P1M1 = 0;        //CCP1, P1A as single output
    P1M0 = 0;
 
    DC1B1 = 0;        // 2 LSB of 10 PWM, make it 00
    DC1B0 = 0;
     
    CCP1M3 = 1;        // Configure CCP1 module to operate in PWM mode.
    CCP1M2 = 1;        
    CCP1M1 = 0;
    CCP1M0 = 0;    
     
    //configuration for CCP2CON
 
 
    CCP2M3 = 1;        // Configure CCP1 module to operate in PWM mode.
    CCP2M2 = 1;        
    CCP2M1 = 0;
    CCP2M0 = 0;    
}    
 
void set_pwmr(unsigned char uc_duty_cycle)
{
    CCPR1L = uc_duty_cycle;
}    
 
void set_pwml(unsigned char uc_duty_cycle)
{
    CCPR2L = uc_duty_cycle;
}    
 
void motor(unsigned char uc_left_motor_speed,unsigned char uc_right_motor_speed)
{    
    //set the speed for left and right motor
    set_pwmr(uc_right_motor_speed);
    set_pwml(uc_left_motor_speed);    
}

our main problem are on the pwm part of the coding~ the motor simulation did not work properly~ only 1 motor moving~ so we thought there's something wrong with the coding above but we do not know which part~

[Salem]

Does any motor move at all?

Before rushing headlong into a complete program, did you prototype just moving ONE motor. You know, real simple things like
- turn it on
- turn it off
- turn through say 90' (in both directions).

When you're really comfortable with moving 1 motor, try controlling 2 at once.

Remember, we don't have your hardware or your motors or anything, so we can't do anything to TEST what you post (that's your job).

Providing as much detail as possible (like what you tried, what worked, what didn't), might allow us to join the gaps and suggest what to do.

But "here's the code, it doesn't work and I've no idea" is not likely to give you the answer you seek.

[itCbitC]

It'd help if you provide hardware diagrams or schematics.