I have a problem with my project and I need your hep.
My project is to control a robotic arm with 4 dc motors with a PIC16F877A from a gui and "teach" them some moves. I have written the code for the movements with 8 buttons in the gui, up, down, left, right,etc.
I can read the values from the analog pins and send them to pc from serial and now I have problem by drive the motors in the specific positions by reading the analog values.
I have made it with while loop but it run only the 1 motor and then it stop and I cant do anything. At the beginning I can use all the other buttons but if I push 'b' or 'e' it stacks and I cant do anything.
Can you please help??
P.S. Sorry for my English.
unsigned int y0, y1, y2, y3;
char x;
char buffer[15];
void GetDelay(){
Delay_ms(80);
}
void main() {
CMCON = 0x07;
ADCON1 = 0x80;
UART1_Init(9600);
Delay_ms(100);
ADC_Init();
Delay_ms(100);
TRISA0_bit = 1;
PORTA.F0 = 1;
TRISA1_bit = 1;
PORTA.F1 = 1;
TRISA2_bit = 1;
PORTA.F2 = 1;
TRISA3_bit = 1;
PORTA.F3 = 1;
TRISB = 0;
PORTB = 0;
TRISB0_bit = 1;
PORTB.F0 = 1;
TRISB1_bit = 1;
PORTB.F1 = 1;
TRISB4_bit = 1;
PORTB.F4 = 0;
TRISB5_bit = 1;
PORTB.F5 = 0;
TRISC1_bit = 0;
PORTC.F1 = 0;
TRISC2_bit = 0;
PORTC.F2 = 0;
TRISC3_bit = 0;
PORTC.F3 = 0;
TRISC4_bit = 0;
PORTC.F4 = 0;
TRISC5_bit = 0;
PORTC.F5 = 0;
TRISD0_bit = 1;
PORTD.F0 = 1;
TRISD1_bit = 1;
PORTD.F1 = 1;
TRISD2_bit = 1;
PORTD.F2 = 1;
TRISD3_bit = 1;
PORTD.F3 = 1;
TRISD4_bit = 1;
PORTD.F4 = 1;
TRISD5_bit = 1;
PORTD.F5 = 1;
TRISD6_bit = 0;
PORTD.F6 = 0;
TRISD7_bit = 0;
PORTD.F7 = 0;
PWM2_Init(5000); //Initialize PWM1
PWM2_Start(); //start PWM1
PWM2_Set_Duty(127); //Set current duty for PWM1
while(1){
if(RB4_bit==0){
if (UART1_Data_Ready() == 1){
x = UART1_Read();
}
//ARPAGH OPEN
if (x=='1' ){
RC4_bit=0;
RC5_bit=1;
GetDelay();
RC4_bit=0;
RC5_bit=0;
}
//ARPAGH CLOSE
else if (x=='2'){
RC4_bit=1;
RC5_bit=0;
GetDelay();
RC4_bit=0;
RC5_bit=0;
}
//2h ARTHRWSH DOWN
else if (x=='3'){
RB3_bit=1;
RB2_bit=0;
GetDelay();
RB3_bit=0;
RB2_bit=0;
}
//2h ARTHRWSH UP
else if (x=='4'){
RB3_bit=0;
RB2_bit=1;
GetDelay();
RB3_bit=0;
RB2_bit=0;
}
//1h ARTHRWSH DOWN
else if (x=='5'){
RD6_bit=0;
RD7_bit=1;
GetDelay();
RD6_bit=0;
RD7_bit=0;
}
//1h ARTHRWSH UP
else if (x=='6'){
RD6_bit=1;
RD7_bit=0;
GetDelay();
RD6_bit=0;
RD7_bit=0;
}
//PERISTROFH RIGHT
else if (x=='7'){
RC2_bit=1;
RC3_bit=0;
GetDelay();
RC2_bit=0;
RC3_bit=0;
}
//PERISTROFH LEFT
else if (x=='8'){
RC2_bit=0;
RC3_bit=1;
GetDelay();
RC2_bit=0;
RC3_bit=0;
}
//ANALOG
else if (x=='9'){
y0 = ADC_Get_Sample(0);
sprintl(buffer, "%d", y0);
UART1_Write_Text(buffer);
UART1_Write_Text(",");
y2 = ADC_Get_Sample(2);
sprintl(buffer, "%d", y2);
UART1_Write_Text(buffer);
UART1_Write_Text(",");
y1 = ADC_Get_Sample(1);
sprintl(buffer, "%d", y1);
UART1_Write_Text(buffer);
UART1_Write_Text(",");
y3 = ADC_Get_Sample(3);
sprintl(buffer, "%d", y3);
UART1_Write_Text(buffer);
//UART1_Write_Text("\n");
UART1_Write(13);
}
//START POSITION
else if (x=='b'){
//ARPAGH OPEN
while (RD2_Bit==0){
RC4_bit=0;
RC5_bit=1;
GetDelay();
RC4_bit=0;
RC5_bit=0;
}
//2h ARTHRWSH UP
while (y2>440){
RB3_bit=0;
RB2_bit=1;
GetDelay();
RB3_bit=0;
RB2_bit=0;
y2 = ADC_Get_Sample(2);
Delay_ms(100);
}
//1h ARTHRWSH DOWN
while (y1>470){
RD6_bit=0;
RD7_bit=1;
GetDelay();
RD6_bit=0;
RD7_bit=0;
y1 = ADC_Get_Sample(1);
Delay_ms(100);
}
//PERISTROFH RIGHT
while (y3>120){
RC2_bit=1;
RC3_bit=0;
GetDelay();
RC2_bit=0;
RC3_bit=0;
y3 = ADC_Get_Sample(3);
Delay_ms(100);
}
}
//FINAL POSITION
else if (x=='e'){
//ARPAGH OPEN
while (RD2_Bit==0){
RC4_bit=0;
RC5_bit=1;
GetDelay();
RC4_bit=0;
RC5_bit=0;
}
//2h ARTHRWSH DOWN
while (y2<440){
y2 = ADC_Get_Sample(2);
Delay_ms(100);
RB3_bit=1;
RB2_bit=0;
GetDelay();
RB3_bit=0;
RB2_bit=0;
}
//2h ARTHRWSH UP
while (y2>440){
y2 = ADC_Get_Sample(2);
Delay_ms(100);
RB3_bit=0;
RB2_bit=1;
GetDelay();
RB3_bit=0;
RB2_bit=0;
}
//1h ARTHRWSH UP
while (y1<470){
y1 = ADC_Get_Sample(1);
Delay_ms(100);
RD6_bit=1;
RD7_bit=0;
GetDelay();
RD6_bit=0;
RD7_bit=0;
}
//1h ARTHRWSH DOWN
while (y1>470){
y1 = ADC_Get_Sample(1);
Delay_ms(100);
RD6_bit=0;
RD7_bit=1;
GetDelay();
RD6_bit=0;
RD7_bit=0;
}
//ARPAGH CLOSE
while (RD3_Bit==0){
RC4_bit=1;
RC5_bit=0;
GetDelay();
RC4_bit=0;
RC5_bit=0;
}
//PERISTROFH LEFT
while (y3<120){
y3 = ADC_Get_Sample(3);
Delay_ms(100);
RC2_bit=0;
RC3_bit=1;
GetDelay();
RC2_bit=0;
RC3_bit=0;
}
//PERISTROFH RIGHT
while (y3>120){
y3 = ADC_Get_Sample(3);
Delay_ms(100);
RC2_bit=1;
RC3_bit=0;
GetDelay();
RC2_bit=0;
RC3_bit=0;
}
}
x = '\0';
}
}
}