Programming Manual Elektor Proton Robot - ELEKTOR.se

With the red and black button – you can now control the position of the servo-motors of the grippermodule.PIC16F887Demoprogram Flowcode PIC V4PROTDEM_FCPIC_GRIP.fcfDemoprogram Hitech C lite for PIC#include ATMEGA32Demoprogram Flowcode AVR V4PROTDEM_FCAVR_SERVO.fcf_avrDemoprogram WinAVR C for AVR#include #include "PIC_PROTON_LIB.h"#define _XTAL_FREQ 19660800__CONFIG(0x2ff2); // set HS Xtal etc__CONFIG(0x3fff);void DELAYSEC (void){for (char i = 0; i < 10 ; i++) __delay_ms(100);}void main(){// init AD & Option regANSEL = 0;ANSELH = 0;OPTION = 0xC0;// end of init__delay_ms(250);__delay_ms(250); //wait for stable power supplyunsigned char SER_L = 150, SER_R = 150;#define F_CPU 19660800UL#include #include "AVR_PROTON_LIB.h"#include "AVR_PROTON_LIB.c"int main ( void ){unsigned char SER_L = 150, SER_R = 150;_delay_ms(250);_delay_ms(250); //wait for stable power supplyI2C_INIT(); // initialize I2CI2C_SEND_MESSAGE(0xAA,0,2); // servo's gripperonwhile (1){if (PIND & 0b00000100){SER_L++;SER_R--;}I2C_INIT(); // initialize I2CI2C_SEND_MESSAGE(0xAA,0,2); // servo's gripperonwhile (1){if (PORTB & 0b00010000){SER_L++;SER_R--;}else if (PORTB & 0b00100000){SER_L--;SER_R++;}I2C_SEND_MESSAGE(0xAA,3,SER_R);I2C_SEND_MESSAGE(0xAA,4,SER_L);}}else if (PIND & 0b00001000){SER_L--;SER_R++;}I2C_SEND_MESSAGE(0xAA,3,SER_R);I2C_SEND_MESSAGE(0xAA,4,SER_L);}}Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 56