Hello people!
I am working on a radio controlled motor application. I constructed the circuits mostly based on Nigel Goodwin's PIC tutorials. Actually, the code is also basically from those tutorials. I just combined, copied, pasted some code with another. These are , PWM, Manchester encoding, Joystick reading and delay code parts. So i haven't written any of this routines. As i said i just combined parts that i need in order to meet my needs.
To test the Analog Joystick reading part (Tutorial 4) i connected joystick to PIC16F628 (PIC that i used) and PIC to motor driver (L293D), and a DC motor to it. The overall schematic should be included in the attachment. For a start i tried to read only X axis of analog joystick. So as a result, i wanted to get the motor roll forward and reverse according to X axis position. Also, i am using mini analog joystick, rather than PC analog joystick. The picture should also be included in the attachment.
So the problem is, it doesn't work. As soon as i turn the power on, the motor starts to turn. That's all. Please, help to figure out whats wrong. It should be in the code, that i have messed up.
This is the code:
I am working on a radio controlled motor application. I constructed the circuits mostly based on Nigel Goodwin's PIC tutorials. Actually, the code is also basically from those tutorials. I just combined, copied, pasted some code with another. These are , PWM, Manchester encoding, Joystick reading and delay code parts. So i haven't written any of this routines. As i said i just combined parts that i need in order to meet my needs.
To test the Analog Joystick reading part (Tutorial 4) i connected joystick to PIC16F628 (PIC that i used) and PIC to motor driver (L293D), and a DC motor to it. The overall schematic should be included in the attachment. For a start i tried to read only X axis of analog joystick. So as a result, i wanted to get the motor roll forward and reverse according to X axis position. Also, i am using mini analog joystick, rather than PC analog joystick. The picture should also be included in the attachment.
So the problem is, it doesn't work. As soon as i turn the power on, the motor starts to turn. That's all. Please, help to figure out whats wrong. It should be in the code, that i have messed up.
This is the code:
Code:
LIST p=16F628 ;tell assembler what chip we are using
include "P16F628.inc" ;include the defaults for the chip
ERRORLEVEL 0, -302 ;suppress bank selection messages
__config 0x3D18 ;sets the configuration settings (oscillator type etc.)
cblock 0x20 ;start of general purpose registers
count ;used in looping routines
count1 ;used in delay routine
count2
counta ;used in delay routine
countb ;used in delay routine
temp
tmp1 ;temporary storage
tmp2
HiX ;result for X pot
LoX
HiY ;result for Y pot
LoY
Flags
endc
JOY_PORT Equ PORTA
JOY_TRIS Equ TRISA
PotX Equ 0x06 ;input assignments for joystick
PotY Equ 0x02
MR Equ 0x04 ;pin for motor reverse
MF Equ 0x05 ;pin for motor forward
;pin 3 (RB3) is the PWM channel output -CCP1
org 0x0000
nop
nop
nop
goto Start
org 0x0010
Start movlw 0x07
movwf CMCON ;turn comparators off (make it like a 16F84)
Initialise clrf count
clrf PORTA
clrf PORTB
SetPorts bsf STATUS, RP0 ;select bank 1
movlw 0xff ;make all joystick pins inputs
movwf JOY_TRIS
bcf STATUS, RP0 ;select bank 0
call JOY_Init ;discharge timing capacitors
call PWM_Init ;
Main
call ReadX ;read X joystick
; call ReadY ;read Y joystick
MOVLW LoX
CALL SpeedL ;half speed forwards
goto Main ;loop for ever
;joystick routines
JOY_Init ;setup joystick port
bsf STATUS, RP0 ;select bank 1
bcf JOY_TRIS, PotX ;make PotX an output
bcf JOY_PORT, PotX ;discharge capacitor
bcf JOY_TRIS, PotY ;make PotY an output
bcf JOY_PORT, PotY ;discharge capacitor
bcf STATUS, RP0 ;select bank 0
retlw 0x00
ReadX
clrf HiX ;reset counter registers
clrf LoX
bsf STATUS, RP0 ;select bank 1
bsf JOY_TRIS, PotX ;make PotX an input
bcf STATUS, RP0 ;select bank 0
x1
btfsc JOY_PORT, PotX ;keep going until input high
goto EndX
incfsz LoX,f
goto x1
incfsz HiX,f
goto x1
EndX bsf STATUS, RP0 ;select bank 1
bcf JOY_TRIS, PotX ;make PotX an output
bcf JOY_PORT, PotX ;discharge capacitor
bcf STATUS, RP0 ;select bank 0
retlw 0x00
ReadY
clrf HiY ;reset counter registers
clrf LoY
call Delay5
bsf STATUS, RP0 ;select bank 1
bsf JOY_TRIS, PotY ;make PotY an input
bcf STATUS, RP0 ;select bank 0
y1
btfsc JOY_PORT, PotY ;keep going until input high
goto EndY
incfsz LoY,f
goto y1
incfsz HiY,f
goto y1
EndY bsf STATUS, RP0 ;select bank 1
bcf JOY_TRIS, PotY ;make PotY an output
bcf JOY_PORT, PotY ;discharge capacitor
bcf STATUS, RP0 ;select bank 0
retlw 0x00
;PWM routines
PWM_Init:
BANKSEL PORTB
BANKSEL TRISB
MOVLW 3 ;set PORTB as all outputs
MOVWF TRISB
BANKSEL PORTB
MOVF CCP1CON,W ;set CCP1 as PWM
ANDLW 0xF0
IORLW 0x0C
MOVWF CCP1CON
MOVLW 126 ;set highest PWM value
BANKSEL PR2 ;over this (127) is permanently on
MOVWF PR2
BANKSEL TMR2
MOVF T2CON,W ;set prescaler to 16
ANDLW 0xF8 ;PWM at 2500HZ
IORLW 0x02
MOVWF T2CON
MOVF T2CON,W ;set postscaler to 1
ANDLW 0x07
IORLW 0x00
MOVWF T2CON
CLRF CCPR1L ;set PWM to zero
BSF T2CON, TMR2ON ;and start the timer running
RETURN
SpeedL: ;use value in W to set speed (0-127)
MOVWF temp
BTFSC temp, 7 ;if more than 128 set speed in reverse
CALL ReverseL ;so '1' is very slow forward
BTFSS temp, 7 ;and '129' is very slow reverse
CALL ForwardL
ANDLW 0x7F
MOVWF CCPR1L
RETURN
ReverseL:
BSF PORTB, MR ;set pins for reverse
BCF PORTB, MF
RETURN
ForwardL:
BCF PORTB, MR ;set pins for forward
BSF PORTB, MF
RETURN
;Delay routines
Delay255 movlw 0xff ;delay 255 mS
goto d0
Delay100 movlw d'100' ;delay 100mS
goto d0
Delay50 movlw d'50' ;delay 50mS
goto d0
Delay20 movlw d'20' ;delay 20mS
goto d0
Delay5 movlw 0x05 ;delay 5.000 ms (4 MHz clock)
d0 movwf count1
d1 movlw 0xC7 ;delay 1mS
movwf counta
movlw 0x01
movwf countb
Delay_0
decfsz counta, f
goto $+2
decfsz countb, f
goto Delay_0
decfsz count1 ,f
goto d1
retlw 0x00
;end of Delay routines
end
