조도센서에 빛의 양에 따라 서보모터와 dc모터가 제어되는 코딩인데요! 서보모터와dc모터가 동시에 돌아가지않고 스위치로 제어도 안됩니다,,! 한번 봐주실수 있을까요?! Atmega8535에서 atmega128로 바꿨습니다,

Pwm->16핀

Dc->17,29핀

서보모터->15핀으로 바꿨습니다,,!

#include <mega128.h> #include <delay.h>

#define ADC_VREF_TYPE 0x20

#define START PINA.1

 #define END PINA.2 

#define SERVO_FW PINA.3



#define SERVO_BW PINA.4

 #define DC_FW PINA.5 

#define DC_BW PINA.6 

#define AUTO_SW PINA.7

// Read the 8 most significant bits

// of the AD conversion result

unsigned char read_adc(unsigned char adc_input)

{

ADMUX=adc_input | (ADC_VREF_TYPE & 0xff);

// Delay needed for the stabilization of the ADC input voltage delay_us(10);

// Start the AD conversion

ADCSRA|=0x40;

// Wait for the AD conversion to complete

while ((ADCSRA & 0x10)==0);

ADCSRA|=0x10;

return ADCH;

}

void dc_forward(void){ OCR1B=1000;

PORTD.6=0;

PORTD.7=1; }

void dc_backward(void){ OCR1B=1000;

PORTD.6=1;

PORTD.7=0; }



void dc_stop(void){ OCR1B=0;

}

void servo_fw(void){ if(OCR1A<12)

OCR1A=OCR1A+1; else ;

}

void servo_bw(void){ if(OCR1A>5)

OCR1A=OCR1A-1; else ;

}

void servo_90(void){ OCR1A=12;

}

void servo_70(void){ OCR1A=10;

}

void servo_50(void){ OCR1A=9;

}

void servo_25(void){ OCR1A=7;

}



void servo_0(void){ OCR1A=5;

}

// Declare your global variables here

void main(void) {

unsigned char adc_value; float temp;

adc_value=0;

temp = 0;

// Input/Output Ports initialization

// Port A initialization

// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In

// State7=T State6=T State5=T State4=T State3=T State2=T State1=T S tate0 =T

PORTA=0x00;

D DRA =0x0 0;

// Port B initialization

// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In

// State7=T State6=T State5=T State4=T State3=T State2=T State1=T S tate0 =T

PORTB=0x00;

DDRB=0x00;



// Port C initialization

// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In

// State7=T State6=T State5=T State4=T State3=T State2=T State1=T S tate0 =T

PORTC=0x00;

DDRC=0x00;

// Port D initialization

// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=Out

/ / State 7=0 St ate6= 0 State 5=0 St ate4= 0 State 3=0 St ate2= 0 State 1=0 S tate0 =0

PORTD=0x00;

DDRD=0xFF;

// Timer/Counter 0 initialization // Clock source: System Clock // Clock value: Timer 0 Stopped // Mode: Normal top=FFh

// OC0 output: Disconnected

TCCR0=0x00; TCNT0=0x00; OCR0=0x00;

// Timer/Counter 1 initialization // Clock source: System Clock // Clock value: Timer 1 Stopped // Mode: Normal top=FFFFh

// OC1A output: Discon. // OC1B output: Discon. // Noise Canceler: Off



/ Input Capture on Falling Edge

// Timer 1 Overflow Interrupt: Off

// Input Capture Interrupt: Off

// Compare A Match Interrupt: Off

// Compare B Match Interrupt: Off

TCCR1A=0xA1; // PWM phase correct, 8bit

TCCR1B=0x03; // f = CLK/8 = 1000000Hz/8 = 125kHz => OCR1A*2*1/f = Pulse width

// OCR1A=43 => 0 degree, OCR1A=94 => 90 degree

// Pulse period = (1/f)*2*256 = (1/125000)*2*256 = 0.004096 s = 4ms 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: Timer 2 Stopped // Mode: Normal top=FFh

// 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;

// Analog Comparator initialization

// Analog Comparator: Off

// Analog Comparator Input Capture by Timer/Counter 1: Off ACSR=0x80;

SFIOR=0x04; //pull-up disable

// ADC initialization

// ADC Clock frequency: 125.000 kHz // ADC Voltage Reference: AREF pin // ADC High Speed Mode: Off

// ADC Auto Trigger Source: None // Only the 8 most significant bits of // the AD conversion result are used ADMUX=ADC_VREF_TYPE & 0xff; ADCSRA=0x83;

S FIO R&= 0xEF;

delay_ms(1000); OCR1A=5; //90 degree

OCR1B=0; //PORTD.4 PWM no generate

while (1) {

if(START==0&&END==1){ //다 접혀 있을 때 if(DC_FW==0&&DC_BW==1)



dc_forward();

else if(DC_FW==1&&DC_BW==0)

dc_stop(); else

dc_stop(); }

else if(START==1&&END==1){ if(DC_FW==0&&DC_BW==1)

//중간에 있을 때

dc_forward();

else if(DC_FW==1&&DC_BW==0)

dc_backward(); else

dc_stop(); }

else if(START==1&&END==0){ if(DC_FW==0&&DC_BW==1)

//다 펴져 있을 때

dc_stop();

else if(DC_FW==1&&DC_BW==0)

dc_backward(); else

dc_stop();

if(AUTO_SW==0){ //자동조절 스위치 OFF (수동)

if(SERVO_FW==0&&SERVO_BW==1) servo_fw();

else if(SERVO_FW==1&&SERVO_BW==0) servo_bw();

else ;

delay_ms(100); }



else{ //자동조절 스위치 ON

delay_ms(500);

adc_value=read_adc(0); //sensing

temp = adc_value*0.004887; //5V analog voltage convert to

digital voltage

if(temp>0 && temp<=1) servo_90();

else if(temp>1 && temp<=2) servo_70();

else if(temp>2 && temp<=3) servo_50();

else if(temp>3 && temp<=4) servo_25();

else servo_0();

delay_ms(500);

} }

else ; }

}



코딩한번 봐주세요ㅜㅠ