/********************************************* * Author: Chris @ PyroElectro.com * * Description: This firmware is made for the * PIC 18F452 microcontroller and goes with the * animatronic eyes tutorial on PyroElectro.com * The following firmware controls 6 servo motors * independently and has a special move command * so that the motors move slowly, with a varying * speed option. * * Date: August 9th, 2011 * * For Full Details On This Firmware Please * Visit: http://www.pyroelectro.com/tutorials/animatronic_eyes/ *********************************************/ #include #include #include /******Static Eyebrow Max/Min Locations********/ //Right Eyebrow #define right_level 0xF100 #define right_down 0xF400 #define right_up 0xEB00 //Left Eyebrow #define left_level 0xF000 #define left_down 0xED00 #define left_up 0xF600 /******Static Eye Max/Min Locations********/ //Right Eye #define right_eye_straight 0xF259 #define right_eye_left 0xF600 #define right_eye_right 0xEC09 #define right_eye_level 0xEFA9 #define right_eye_up 0xF5C9 #define right_eye_down 0xEC59 //Left Eye #define left_eye_straight 0xF259 #define left_eye_left 0xF600 #define left_eye_right 0xEC09 #define left_eye_level 0xEE59 #define left_eye_up 0xF2C9 #define left_eye_down 0xEC59 //Declare all functions void move(unsigned int,unsigned int,unsigned int,unsigned int,unsigned int,unsigned int,unsigned int); void slow_move(unsigned int); void delay(unsigned int); void InterruptHandlerHigh (void); unsigned int count = 0; //Counts every Timer1 Interrupt //The servos are all set to go to an initial //state when the system is powered on int servo0 = right_level; // Right Eyebrow int servo1 = left_level; // Left Eyebrow int servo2 = left_eye_straight; // Left Eye Left/Right int servo3 = left_eye_level; // Left Eye Up/Down int servo4 = right_eye_straight; // Right Eye Left/Right int servo5 = right_eye_level; // Right Eye Up/Down unsigned int servo_0_dest = right_level; unsigned int servo_1_dest = left_level; unsigned int servo_2_dest = left_eye_straight; unsigned int servo_3_dest = left_eye_level; unsigned int servo_4_dest = right_eye_straight; unsigned int servo_5_dest = right_eye_level; unsigned int servo_0_current = right_level; unsigned int servo_1_current = left_level; unsigned int servo_2_current = left_eye_straight; unsigned int servo_3_current = left_eye_level; unsigned int servo_4_current = right_eye_straight; unsigned int servo_5_current = right_eye_level; unsigned int speed = 0xF9DF; /******** Variable Movement Speed********* //This speed can be changed at any time to change how fast the servos are updated, thus changing the servo's movement speed. ****************************************** [1] speed = 0xB1DF; // Slowest [2] speed = 0xD1DF; // Slow [3] speed = 0xE1DF; // Medium [4] speed = 0xF1DF; // Fast [5] speed = 0xF9DF; // Fastest ******************************************/ void main(void) { //Set I/O ports TRISD = 0x00; //Clear Output Ports PORTD = 0x00; //Setup Interrupts RCON = 0b000000000; INTCON = 0b10100000; //Setup Timers 1 & 2 OpenTimer0( TIMER_INT_ON & T0_16BIT & T0_SOURCE_INT & T0_PS_1_2 ); OpenTimer1( TIMER_INT_ON & T1_16BIT_RW & T1_SOURCE_INT & T1_PS_1_2 & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF ); OpenTimer3( TIMER_INT_ON & T3_16BIT_RW & T3_SOURCE_INT & T3_PS_1_1 & T3_SYNC_EXT_OFF ); //Initialize Timers 1 & 2 WriteTimer0( 0x3CAF ); WriteTimer1( 0xF63B ); WriteTimer3( speed ); // 20,000 Instructions Until Interrupt while(1){ //Eyes Level/Straight || Eyebrows Straight move(right_level, //Right Eyebrow left_level, //Left Eyebrow left_eye_straight, //Left Eye Left/Right left_eye_level, //Left Eye Up/Down right_eye_straight,//Right Eye Left/Right right_eye_level, //Right Eye Up/Down 0xFADF); //Movement Speed delay(40); //Eyes Left || Left Eyebrow Up move(right_level, //Right Eyebrow left_up, //Left Eyebrow left_eye_left, //Left Eye Left/Right left_eye_level, //Left Eye Up/Down right_eye_left,//Right Eye Left/Right right_eye_level, //Right Eye Up/Down 0xFADF); //Movement Speed delay(10); //Eyes Right || Right Eyebrow Up move(right_up, //Right Eyebrow left_level, //Left Eyebrow left_eye_right, //Left Eye Left/Right left_eye_level, //Left Eye Up/Down right_eye_right,//Right Eye Left/Right right_eye_level, //Right Eye Up/Down 0xFADF); //Movement Speed delay(10); //Eyes Straight || Eyebrows Level move(right_level, //Right Eyebrow left_level, //Left Eyebrow left_eye_straight, //Left Eye Left/Right left_eye_level, //Left Eye Up/Down right_eye_straight,//Right Eye Left/Right right_eye_level, //Right Eye Up/Down 0xFADF); //Movement Speed delay(10); //Eyes Middle || Eyebrows Down move(right_down, //Right Eyebrow left_down, //Left Eyebrow left_eye_right, //Left Eye Left/Right left_eye_level, //Left Eye Up/Down right_eye_left,//Right Eye Left/Right right_eye_level, //Right Eye Up/Down 0xFADF); //Movement Speed delay(12); //Eyebrows Up Quickly move(right_up, //Right Eyebrow left_up, //Left Eyebrow 0, //Left Eye Left/Right 0, //Left Eye Up/Down 0,//Right Eye Left/Right 0, //Right Eye Up/Down 0xFD00); //Movement Speed delay(7); //Eyes Straight || Eyebrows Level move(right_level, //Right Eyebrow left_level, //Left Eyebrow left_eye_straight, //Left Eye Left/Right left_eye_level, //Left Eye Up/Down right_eye_straight,//Right Eye Left/Right right_eye_level, //Right Eye Up/Down 0xFADF); //Movement Speed delay(50); } } //The move function sets all servo values void move(unsigned int one, unsigned int two, unsigned int three, unsigned int four, unsigned int five, unsigned int six, unsigned int variable_speed) { speed = variable_speed; if(one){ //servo0 = one;// Right Eyebrow servo_0_dest = one; } if(two){ //servo1 = two;// Left Eyebrow servo_1_dest = two; } if(three){ //servo2 = three;// Right Eyebrow servo_2_dest = three; } if(four){ //servo3 = four;// Left Eyebrow servo_3_dest = four; } if(five){ //servo2 = three;// Right Eyebrow servo_4_dest = five; } if(six){ //servo3 = four;// Left Eyebrow servo_5_dest = six; } } //INTERRUPT CONTROL #pragma code InterruptVectorHigh = 0x08 //interrupt pointer address (0x18 low priority) void InterruptVectorHigh (void) { _asm //assembly code starts goto InterruptHandlerHigh //interrupt control _endasm //assembly code ends } #pragma code #pragma interrupt InterruptHandlerHigh //end interrupt control void InterruptHandlerHigh() // Declaration of InterruptHandler { //This gets run when either timer overflows from FFFF->0000 if(INTCONbits.TMR0IF) //check if TMR0 interrupt flag is set { WriteTimer0( 0x3CAF ); //Reset Timer0 for 20mS Delay WriteTimer1( 0xFC00 ); //Reset Timer1 for 1mS Delay count = 0; //Reset Timer1 Interrupt Counter INTCONbits.TMR0IF = 0; //Clear TMR0 Flag } if(PIR1bits.TMR1IF == 1) { //If Timer1 interrupts, do your thing... count++; //Increment Timer1 Interrupt Counter switch(count){ //Choose which servo to modify case 1: PORTD = 0x01; WriteTimer1( servo0 ); //Right Eyebrow break; case 2: PORTD = 0x02; WriteTimer1( servo1 ); //Left Eyebrow break; case 3: PORTD = 0x04; WriteTimer1( servo2 ); //Left Eye Left/Right break; case 4: PORTD = 0x08; WriteTimer1( servo3 ); //Left Eye Up/Down break; case 5: PORTD = 0x10; WriteTimer1( servo4 ); //Right Eye Left/Right break; case 6: PORTD = 0x20; WriteTimer1( servo5 ); //Right Eye Up/Down break; case 7: PORTD = 0x00; WriteTimer1( 0 ); break; } PIR1bits.TMR1IF = 0; //Clear Timer1 flag } if(PIR2bits.TMR3IF == 1) { //If Timer3 interrupts, do your thing... if(servo_0_dest < servo_0_current){ servo_0_current--; servo0 = servo_0_current; } else if(servo_0_dest > servo_0_current){ servo_0_current++; servo0 = servo_0_current; } if(servo_1_dest < servo_1_current){ servo_1_current--; servo1 = servo_1_current; } else if(servo_1_dest > servo_1_current){ servo_1_current++; servo1 = servo_1_current; } if(servo_2_dest < servo_2_current){ servo_2_current--; servo2 = servo_2_current; } else if(servo_2_dest > servo_2_current){ servo_2_current++; servo2 = servo_2_current; } if(servo_3_dest < servo_3_current){ servo_3_current--; servo3 = servo_3_current; } else if(servo_3_dest > servo_3_current){ servo_3_current++; servo3 = servo_3_current; } if(servo_4_dest < servo_4_current){ servo_4_current--; servo4 = servo_4_current; } else if(servo_4_dest > servo_4_current){ servo_4_current++; servo4 = servo_4_current; } if(servo_5_dest < servo_5_current){ servo_5_current--; servo5 = servo_5_current; } else if(servo_5_dest > servo_5_current){ servo_5_current++; servo5 = servo_5_current; } WriteTimer3( speed ); // Reset Instruction Speed Until Interrupt PIR2bits.TMR3IF = 0; //Clear Timer3 flag } INTCONbits.GIE = 1; //Re-enable all interrupts } //Delay delay_val*100mS void delay(unsigned int delay_val){ unsigned int i=0; for(i=0;i