C++ source for servo motor with PIC 16F877A

[zawminoo]

This source is servo motor control with PIC18F452. and it is OK..I tested.
Please help me to change code for PIC16F877A.

int servo1,servo2,servo3;
void servo_1(int servo1);
void servo_2(int servo2);
void servo_3(int servo3);
void initial(void);
void check(void);
void move1(void);
void move2(void);
void stop(void);
void interrupt(void);
void main()
{
 int i,adc;
 ADCON1=0x8e;
 trisb=0;        // PORTB IS OUTPUT
 trisd=0xff;        // PORTD IS INPUT
 tmr0h=0xfc;
 tmr0l=0xee;
 intcon=0xa0;
 t0con=0x87;
 portb=0x00;
 portd=0x00;

 while(1)
 {
 initial:
 servo1=500;             // HOME POSITION
 servo2=500;
 servo3=500;
 delay_ms(5000);
//------checking sensor--------------
 check:
 if (Button(&portd,3,0,1))               // SENSOR1 PORT
    {goto move1;}
    else if (Button(&portd,4,0,1))           // CHECK SENSOR 2
        { if (Button(&portd,5,0,1))
          {goto move2;}
        }
     else
         { goto check;}
 }
//---------move1-------------
move1:
 for(i=0;i<133;i++)
 {
  servo1--;                // SERVO 1, AND 2 ROTATE 20 DEGREES CLOCKWISE
  servo2--;
  servo3++;                // SERVO 3 ROTATE 20 DEGREESS CLOCKWISE
  if (Button(&portd,5,0,1))
    { goto stop; }          // IF GRIPPER SENSOR HIGH, GO TO STOP
  else {}
  delay_ms(10);
  }
 for(i=0;i<67;i++)
 {
  servo1--;                 // SERVO 1 ROTATE 10 DEGREES CLOCKWISE
  servo3++;                 // SERVO 3 ROTATE 10 DEGREES COUNTERCLOCKWISE
  if (Button(&portd,5,0,1))
    { goto stop; }           // IF GRIPPER SENSOR  HIGH, GO TO STOP
  else {}
  delay_ms(10);
  }
 for(i=0;i<267;i++)
 {
  servo1--;                  // SERVO 1 ROTATE 40 DEGREES CLOCKWISE
  if (Button(&portd,5,0,1))
    { goto stop; }           // IF GRIPPER SENSOR  HIGH, GO TO STOP
  else {}
  delay_ms(10);
  }
goto stop;

//---------move2------------------------------
move2:
 for(i=0;i<133;i++)
 {
  servo1++;                // SERVO 1 ROTATE 20 DEGREES COUNTERCLOCKWISE
  servo2--;                // SERVO 2 AND 3 ROTATE 20 DEGREES CLOCKWISE
  servo3++;
  if (Button(&portd,5,0,1))   // IF GRIPPER SENSOR  HIGH, GO TO STOP
    { goto stop; }
  else {}
  delay_ms(10);
  }
 for(i=0;i<67;i++)
 {
  servo1++;                // SERVO 1 ROTATE 10 DEGREES COUNTERCLOCKWISE
  servo3++;                // SERVO 3 ROTATE 10 DEGREES CLOCKWISE
  if (Button(&portd,5,0,1))
    { goto stop; }          // IF GRIPPER SENSOR  HIGH, GO TO STOP
  else {}
  delay_ms(10);
  }
 for(i=0;i<267;i++)
 {
  servo1++;                // SERVO 1 ROTATE 40 DEGREES COUNTERCLOCKWISE
  if (Button(&portd,5,0,1))
    { goto stop; }          // IF GRIPPER SENSOR HIGH, GO TO STOP
  else {}
  delay_ms(10);
  }
goto stop;

stop:     // STOP ALL SERVO MOTORS
delay_ms(5000);
goto initial;
}
//-------interrupt-----------
void interrupt()             // FUNCTION TO GENERATE PWM
{
 if(intcon.tmr0if)
 {
  tmr0h=0xfc;
  tmr0l=0xee;
  intcon=0x20;
  servo_1(servo1);
  portb.f4=0;
  servo_2(servo2);
  portb.f3=0;
  servo_3(servo3);
  portb.f2=0;
  }
}

void servo_1(int servo1)
{
 while(servo1>0)
 {
  portb.f4=1;
  servo1--;
  }
}

void servo_2(int servo2)
{
 while(servo2>0)
 {
  portb.f3=1;
  servo2--;
  }
}

void servo_3(int servo3)
{
 while(servo3>0)
 {
  portb.f2=1;
  servo3--;
  }
}

Please help me change code for PIC16F877A.
Thank

 

[gladiss]

what is the oscllator type and speed you are using in 18F and what are you going to use in 16F(16F877A supports 4-20MHz Crystal)

 

[zawminoo]

I use Cristal 20MHz both.
Thank..

 

[milind.a.kulkarni]

you try to change the config registers of PIC18F to PIC16F some thing like this......

typedef unsigned int config;
config __at 0x2007 __CONFIG = _HS_OSC & _PWRTE_ON & _BODEN_OFF & _WDT_OFF & _LVP_OFF;


And try keep your code as it is also you need to modify your timer registers as per PIC16F..... Code Should work for you

Good Luck

 

[gladiss]

So nothing has to be changed in your code. Your code will work for both PICs. Just as milind.a.kulkarni said, get the configuration correct.

 

[khexianne26]

Can u provide a Mikro C source code for servo motor this time using 16F84A.We are actually utilizing 6 servos for our robotic aRM....I badly need some help..Im really having a hard time dealing with it..Thanks and *** Bless..

 

[khexianne26]

I've tried using the program but unfortunately it doesn't run our simulation..Can u find ways to improve it...we are actually using switches as our control of the angles of our robotic arm...Thank you!

 

[khexianne26]

This program you have sent me only rotates the motor for 90 degrees..How can we improvise it to achieve 180,270 or 360 degrees rotation...Also how do we reverse it in the program...Thank you!