Motor de passo no PicSimlab

CÓDIGO FEITO NO CCS C Compiler

#include <16F877A.h>

#device adc=8

#FUSES NOWDT //No Watch Dog Timer

#FUSES HS //High speed Osc (> 4mhz for PCM/PCH) (>10mhz for PCD)

#FUSES PUT //Power Up Timer

#FUSES NOPROTECT //Code not protected from reading

#FUSES NODEBUG //No Debug mode for ICD

#FUSES BROWNOUT //Reset when brownout detected

#FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O

#FUSES NOCPD //No EE protection

#FUSES NOWRT //Program memory not write protected

#use delay(clock=20000000)

unsigned int8 posicao[4] = {3, 6, 12, 9}; // {1, 2, 4, 8};

 //3=0011 6=0110 12=1100 9=1001

signed int8 passo=0;

int1 dar_passo=0;

signed int8 sentido=-1;

unsigned int8 ref_passo=10,contador=0;

unsigned int16 ref_mcc=127;

//================== MOTOR PASSO =================================//

#int_RTCC

void RTCC_isr(void)

{

 if(++contador > ref_passo){

 passo = passo + sentido;

 if(passo>3)passo=0;

 if(passo<0)passo=3;

 OUTPUT_D(posicao[passo]);

 contador = 0;

 }

}

#int_TIMER1

void TIMER1_isr(void)

{

 //== Motor CC ======//

 set_adc_channel(0);

 delay_us( 50 );

 ref_mcc = read_adc();

 if(ref_mcc<1) ref_mcc =1;

 if(ref_mcc>254) ref_mcc =254;

 set_pwm1_duty(4*ref_mcc);

 //== Motor Passo ======//

 set_adc_channel(1);

 delay_us( 50 );

 ref_passo = read_adc();

 if(ref_passo<1) ref_passo =1;

 

 if(ref_passo>254) ref_passo =254;

}

//================== Interrupção externa B0 =====================//

#int_EXT

void EXT_isr(void)

{

sentido *= (-1);

}

//================== SERVOMOTOR =================================//

void Rotation0() //0 Degree

 {

 unsigned int i;

 for(i=0;i<50;i++)

 {

 output_high(PIN_C7);

 delay_us(800); // pulse of 800us

 output_low(PIN_C7);

 delay_us(19200);

 }

 }

void Rotation45() //0 Degree

{

 unsigned int i;

 for(i=0;i<50;i++)

 {

 output_high(PIN_C7);

 delay_us(1150); // pulse of 800us // 1400 - 180o

 output_low(PIN_C7); // x 45o

 delay_us(18850);

 }

 }

void Rotation90() //90 Degree

 {

 unsigned int i;

 for(i=0;i<50;i++)

 { // 180o 0o

 output_high(PIN_C7); // 2200 - 800 = 1400 90o = 700

 delay_us(1500); // pulse of 1500us

 output_low(PIN_C7);

 delay_us(18500);

 }

 }

void Rotation180() //180 Degree

 {

unsigned int i;

 for(i=0;i<50;i++)

 {

 output_high(PIN_C7);

 delay_us(2200); // pulse of 2200us

 output_low(PIN_C7);

 delay_us(17800);

 }

 }

 

 void main()

{

 setup_adc_ports(AN0_AN1_AN2_AN3_AN4);

 setup_adc(ADC_CLOCK_DIV_16);

 setup_psp(PSP_DISABLED);

 setup_spi(SPI_SS_DISABLED);

 setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);

 setup_timer_1(T1_INTERNAL|T1_DIV_BY_8);

 setup_timer_2(T2_DIV_BY_16,255,1);

 setup_ccp1(CCP_PWM);

 set_pwm1_duty(512);

 setup_comparator(NC_NC_NC_NC);

 setup_vref(FALSE);

 enable_interrupts(INT_EXT);

 ext_int_edge( L_TO_H );

 enable_interrupts(INT_RTCC);

 enable_interrupts(INT_TIMER1);

 enable_interrupts(GLOBAL);

 set_adc_channel(1);

 delay_us( 50 );

 while(true){

 Rotation0(); // 0 graus

 delay_ms(4000);

 Rotation90(); // 90 graus

 delay_ms(4000);

 Rotation180(); // 180 graus

 delay_ms(4000);

 Rotation45(); // 45 graus

 delay_ms(6000);

 }

}