1 | '################################################################
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2 | '
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3 | ' Control v. 0.1
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4 | ' -------------------------------------
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5 | '
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6 | ' Stand: 21.02.2013, ATmega644
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7 | '
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8 | '
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9 |
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10 | '################################################################
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11 |
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12 |
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13 |
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14 | '--------------------------------------------------------------------------
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15 | ' Compilerinstruktionen und Compilerdirektiven
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16 | '--------------------------------------------------------------------------
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17 |
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18 | $regfile = "m644def.dat"
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19 | $crystal = 20000000
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20 | $hwstack = 64
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21 | $swstack = 64
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22 | $framesize = 64
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23 | $baud = 9600
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24 |
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25 | '--------------------------------------------------------------------------
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26 | ' Definition von Ressourcen
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27 | '--------------------------------------------------------------------------
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28 |
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29 | Led Alias Portd.2 ' rote LED
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30 |
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31 |
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32 | 'Treiber L293 oben (1) / Timer2
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33 | 1_pwm1_z Alias Portd.7
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34 | 1_m1a_z Alias Portc.3
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35 | 1_m1b_z Alias Portc.4
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36 |
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37 | 1_pwm2_f Alias Portd.6
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38 | 1_m2a_f Alias Portc.7
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39 | 1_m2b_f Alias Portc.6
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40 |
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41 |
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42 | 'Treiber L293 unten (2) / Timer0
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43 | 2_pwm1_p Alias Portb.3
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44 | 2_m1a_p Alias Portb.1
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45 | 2_m1b_p Alias Portb.2
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46 |
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47 | 2_pwm2_t Alias Portb.4
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48 | 2_m2a_t Alias Portb.0
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49 | 2_m2b_t Alias Portc.5
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50 |
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51 |
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52 |
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53 |
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54 | '--------------------------------------------------------------------------
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55 | ' Definition von Konstanten
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56 | '--------------------------------------------------------------------------
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57 |
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58 |
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59 |
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60 | '--------------------------------------------------------------------------
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61 | ' Definition von Variablen und Datentypen
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62 | '--------------------------------------------------------------------------
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63 |
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64 | '---- PWM für A293D ----
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65 | Dim 1z As Integer
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66 | Dim 1f As Integer
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67 | Dim 2p As Integer
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68 | Dim 2t As Integer
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69 |
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70 |
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71 |
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72 | '--------------------------------------------------------------------------
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73 | ' Konfiguration und Basiseinstellungen
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74 | '--------------------------------------------------------------------------
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75 |
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76 |
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77 | ' Timer2 für PWM 8Bit L293D (1) "oben"
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78 | Config Timer2 = Pwm , Compare A Pwm = Clear Down , Compare B Pwm = Clear Down , Prescale = 8
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79 |
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80 | ' Timer0 für PWM 8Bit L293D (2) "unten"
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81 | Config Timer0 = Pwm , Compare A Pwm = Clear Down , Compare B Pwm = Clear Down , Prescale = 8
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82 |
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83 |
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84 |
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85 | '---- Timer ----
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86 |
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87 |
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88 | '---- Outputs ----
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89 | Config Led = Output
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90 |
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91 |
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92 | 'Treiber L293 oben (1) / Timer2
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93 | Config 1_pwm1_z = Output 'OC2A
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94 | Config 1_m1a_z = Output
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95 | Config 1_m1b_z = Output
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96 |
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97 | Config 1_pwm2_f = Output 'OC2B
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98 | Config 1_m2a_f = Output
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99 | Config 1_m2b_f = Output
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100 |
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101 |
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102 | 'Treiber L293 unten (2) / Timer0
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103 | Config 2_pwm1_p = Output 'OC0A
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104 | Config 2_m1a_p = Output
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105 | Config 2_m1b_p = Output
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106 |
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107 | Config 2_pwm2_t = Output 'OC0B
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108 | Config 2_m2a_t = Output
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109 | Config 2_m2b_t = Output
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110 |
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111 |
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112 |
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113 |
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114 | '---- Interrupts ----
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115 | Enable Interrupts
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116 | Enable Timer0
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117 | Enable Timer2
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118 |
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119 |
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120 |
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121 | '--------------------------------------------------------------------------
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122 | ' Init
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123 | '--------------------------------------------------------------------------
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124 |
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125 | 1_m1a_z = 0 ' L293D Zoom OFF
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126 | 1_m1b_z = 0
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127 | '1z = 150 ' Anfangsgeschwindigkeit für PWM L293D
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128 | 'Ocr2a = 1z
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129 |
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130 | 1_m2a_f = 0 ' L293D Focus OFF
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131 | 1_m2b_f = 0
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132 | '1f = 150 ' Anfangsgeschwindigkeit für PWM L293D
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133 | 'Ocr2b = 1f
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134 |
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135 | 2_m1a_p = 0 ' L293D PAN OFF
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136 | 2_m1b_p = 0
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137 | '2p = 150 ' Anfangsgeschwindigkeit für PWM L293D
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138 | 'Ocr0a = 2p
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139 |
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140 | 2_m2a_t = 0 ' L293D TILT OFF
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141 | 2_m2b_t = 0
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142 | '2t = 150 ' Anfangsgeschwindigkeit für PWM L293D
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143 | 'Ocr0b = 2t
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144 |
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145 | Led = 1
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146 |
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147 | Print "Ctrl v.0.1"
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148 |
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149 |
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150 | '--------------------------------------------------------------------------
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151 | ' Hauptprogramm
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152 | '--------------------------------------------------------------------------
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153 |
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154 |
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155 | Do
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156 |
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157 | 2_m2a_t = 1
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158 | 2_m2b_t = 0
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159 |
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160 | Ocr0b = 150
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161 |
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162 |
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163 |
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164 |
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165 | Loop
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166 |
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167 | End
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