Lp trnh Robot t ng n gin vi PIC16F877A

Bin son: EM-BOT Robot Team

LP TRNH ROBOT T NG N GIN VI VI IU KHIN PIC16F877A

Tm tt Ti liu hng dn lp trnh cho robot t ng d ng theo vch trng v iu khin cc c cu (nng h, gp nh qu) mt cch c bn nht.Vi iu khin c s dng trong ti liu l PIC16F877A ca Microchip.Lp trnh bng ngn ng C vi trnh bin dch CCS.

1 TM TT V THIT K ROBOT T NG Robot t ng trong cc cuc thi Robocon gm 3 th nh phn chnh: C kh, Mch in t, Lp trnh. 1.1 C kh Mt robot n gin gm 2 ng c truyn ng cho 2 bnh xe bn tri v bn phi gip robot di chuyn. Pha trc c th l 1 hoc 2 bnh t do (bnh t la, omni, mt tru,). thc hin c cc cng vic nh nng h trc, gp nh y qu, robot c trang b thm cc ng c khc truyn ng cho cc c cu ny. Tt c cc b phn trn c b tr trn mt khung bng nhm, st, Phn hng dn chi tit v thit k c kh s c trnh by trong mt ti liu khc. Ti liu ny ch tp trung vo phn lp trnh.

Hnh 1: M hnh robot d dng n gin 1.2 Mch in t

Hnh 2: S hot ng ca robot t ng

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Lp trnh Robot t ng n gin vi PIC16F877A

Bin son: EM-BOT Robot Team

1.2.1 Mch ng vo (cm bin, nt n, cng tc hnh trnh) Vi robot n gin, ng vo thng l mc logic ly t cm bin quang (quang tr, quang diode), nt n hoc cng tc hnh trnh. T mch vi iu khin x l cc tn hiu ny xut ng ra (thng l ng c DC) cho ph hp. Cm bin quang phi c che chn cn thn hn ch nh hng t cc ngun nh sng bn ngoi.
R4 VCC R 1 330 R2 33K 100K VCC
5V

3 + 2 -

U1A 1 LM324

CAMBIEN 1

R3 10K CTHT

D2 LED

D3 QUANG TRO

Vch trng: mc 1 Nn: mc 0

C1 104

SW2 BIT0

Hnh 3: Mch cm bin, nt n v cng tc hnh trnh 1.2.2 Mch vi iu khin Mch s dng vi iu khin PIC16F877A ca Microchip. Mch nhn tn hiu t ng vo, x l v xut ng ra qua mt mch cch ly bng opto ra mch cng sut.
RESET RA0 RA1 RA2 RA3 RA4 RA5 RC0 RC1 RC2 RC3 RC4 RC5 RC6 RC7 C5 30p 13 Y1 CRY STAL 14 C6 30p 12 31 1 2 3 4 5 6 7 15 16 17 18 23 24 25 26 MCLR*/VPP RA0/AN0 RA1/AN1 RA2/AN2/VREF-/CVREF RA3/AN3/VREF+ RA4/T0CKI/C1OUT RA5/AN4/SS*/C2OUT RC0/T1OSO/T1CKI RC1/T1OSI/CCP2 RC2/CCP1 RC3/SCK/SCL RC4/SDI/SDA RC5/SDO RC6/TX/CK RC7/RX/DT OSC1/CLKIN RE0/RD*/AN5 RE1/WR*/AN6 RE2/CS*/AN7 OSC2/CLKOUT VSS VSS PIC16F877A VDD VDD 11 32 RB0/INT RB1 RB2 RB3/PGM RB4 RB5 RB6/PGC RB7/PGD RD0/PSP0 RD1/PSP1 RD2/PSP2 RD3/PSP3 RD4/PSP4 RD5/PSP5 RD6/PSP6 RD7/PSP7 33 34 35 36 37 38 39 40 19 20 21 22 27 28 29 30 8 9 10 RB0 RB1 RB2 RB3 RB4 RB5 RB6 RB7 RD0 RD1 RD2 RD3 RD4 RD5 RD6 RD7 RE0 RE1 RE2 5V

MCU MODULE

Hnh 4: Mch vi iu khin 1.2.3 Mch cng sut iu khin ng c DC Mt s mch thng dng:
P-DIR2 12V D12 1N5819 P-PWM2 Q5 B562 R12 330 2W Q4 D468 M2 IRF540 5 D14 1N5819 24V 6 7 4 3 2 LS2 RELAY 8 1 1N5819 C2 104 CON2 1 2 D13 MOTOR2

(Feb 2010)

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Lp trnh Robot t ng n gin vi PIC16F877A

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Hnh 5: Mch cng sut s dng 1 FET v 1 relay

12V D1

D2

DIODE U3 5 IN1 C5 4.7u 1 2 + C6 100n 3 VCC IN SD COM VB HO VS LO 8 7 6 4 C1 4.7u + C2 100n IN2 5 1 2 3

DIODE U4 VCC IN SD COM VB HO VS LO 8 7 6 4 24V + C3 4.7u C4 100n

IR 2184

IR2184 Q1 R4 4.7R IRF540 R5 4.7R J1 C14 104 C7 470n + R6 4.7R Q3 IRF540 C8 470u R7 4.7R Q4 IRF540 1 2 MOTOR Q2 IRF540

Hnh 6: Mch cu H iu khin ng c vi Half Bridge Driver IR2184 Phn hng dn chi tit v mch in t s c trnh by trong mt ti liu khc. Ti liu ny ch tp trung vo phn lp trnh.

(Feb 2010)

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Lp trnh Robot t ng n gin vi PIC16F877A

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1.3 Lp trnh y l phn chnh ca ti liu ny. Ngn ng lp trnh c s dng l C, vi trnh bin dch CCS cho vi iu khin PIC ca Microchip. Kin thc ban u: Lp trnh C cn bn Cc ti liu tham kho: Ti liu CCS ting Vit: http://www.mediafire.com/?hd2ugmmzvwf Hng dn lp trnh PIC-DKS:http://www.mediafire.com/?e0ioxeideyx Gio trnh PIC (H Reading): http://www.mediafire.com/?iyewnoldyjk Lp trnh C cho PIC 8bit: http://www.mediafire.com/?tnjlztmmzdm CCS Manual (tra cu lnh): http://www.mediafire.com/?htljg1jg2mn y l cc ti liu cn c qua trc khi vo lp trnh cho PIC c th bit cc hm nhn tn hiu ng vo, xut tn hiu ng ra, ngt, timer, counter, PWM, Cc hm quan trng s c nhc li phn 2. 2 LP TRNH CHO ROBOT T NG D NG N GIN Chng trnh gip robot chy theo vch trng trn nn mu sm. 2.1 Phn cng 8 cm bin quang d ng Mch cng sut iu khin 2 ng c Mch vi iu khin: o PORTD: ni vi tn hiu ra ca 8 cm bin o ng c tri: Chn C0: iu khin chiu (DIR_LEFT) Chn C1: iu khin cho php chy (EN_LEFT) o ng c phi: Chn C3: iu khin chiu (DIR_RIGHT) Chn C2: iu khin cho php chy (EN_RIGHT) (Cc ng vo v ng ra c th ni vi bt c PORT v chn no ca vi iu khin) 2.2 Nguyn tc iu khin 2.2.1 iu khin ng c Trng thi DIRECTION ENABLE Thun 1 1 Ngc 0 1 Dng x 0 Tng t i vi cc ng c iu khin cc c cu. 2.2.2 Hng di chuyn ca robot Trng thi ng c tri ng c phi Thng Thun Thun Quay tri Thun Ngc (Dng) Quay phi Ngc (Dng) Thun

(Feb 2010)

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Lp trnh Robot t ng n gin vi PIC16F877A

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2.2.3 X l tn hiu cm bin (xem hnh v) Mc ch ca vic d ng l hng cho robot i theo 1 vch thng mu trng trn mt nn mu m (en, xanh,) Cm bin c t gia robot. o Khi cm bin s 3,4 nm trn vch trng (mc 1): robot chy thng o Khi robot lch sang tri: quay phi iu chnh robot v ng vch o Khi robot lch sang phi: quay tri iu chnh robot v ng vch 7
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

6
0 0 0 0 0 0 0

5
0 0 0 0 0 0 0 0

4
1 1 1 1 1

3
1 1 1 1

2
0 0 0

1
0 0

0
0

Trng thi cm bin Gia vch Lch tri mc 1 Lch tri mc 2 Lch tri mc 3 Lch tri mc 4 Ngoi vch

1 1 1

1 1 1 1

0 0 0 0 0

0 0 0 0 0

0 0 0 0 0

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

Lch phi mc 1 Lch phi mc 2 Lch phi mc 3 Lch phi mc 4 Ngoi vch

Hnh 7: Cc mc lch ra khi vch trng ca robot 2.3 Chng trnh iu khin
#include <16f877A.h> #include <def_877A.h> #fuses HS,NOWDT,NOPROTECT,NOLVP #use delay(clock=20000000) /* NH NGHA CC CHN V PORT */ #define DIR_LEFT RC0 #define EN_LEFT RC1 #define DIR_RIGHT #define EN_RIGHT RC3 RC2

(Feb 2010)

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Lp trnh Robot t ng n gin vi PIC16F877A

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#define SENSOR PORTD /* KHAI BO CC CHNG TRNH CON */ void motor_left_forward(); void motor_left_reverse(); void motor_left_stop(); void motor_right_forward(); void motor_right_reverse(); void motor_right_stop(); void forward(); void reverse(); void stop(); void turn_left(); void turn_right(); /* CC CHNG TRNH CON */ // ng c tri chy thun void motor_left_forward() { DIR_LEFT=1; // chiu thun EN_LEFT=1; // cho php chy } // ng c tri chy ngc void motor_left_reverse() { DIR_LEFT=0; // chiu ngc EN_LEFT=1; // cho php chy } // ng c tri dng void motor_left_stop() { EN_LEFT=0; // khng cho php chy } // ng c phi chy thun void motor_right_forward() { DIR_RIGHT=1;// chiu thun EN_RIGHT=1; // cho php chy } // ng c phi chy ngc void motor_right_reverse() { DIR_RIGHT=0;// chiu ngc EN_RIGHT=1; // cho php chy } // ng c phi dng void motor_right_stop() { EN_RIGHT=0; // khng cho php chy } // Chy thng void forward()

(Feb 2010)

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Lp trnh Robot t ng n gin vi PIC16F877A

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{ motor_left_forward(); motor_right_forward(); } // Chy li void reverse() { motor_left_reverse(); motor_right_reverse(); } // Dng void stop() { motor_left_stop(); motor_right_stop(); } // Quay tri void turn_left() { motor_left_forward(); motor_right_reverse(); // hoc motor_right_stop(); } // Quay phi void turn_right() { motor_left_reverse(); // hoc motor_left_stop(); motor_right_forward(); } /* CHNG TRNH CHNH */ void main () { TRISC=0x00; // PORTC l ng ra ( ng c) TRISD=0x00; // PORTD l ng vo (cm bin quang) PORTC=0x00; // Khi to gi tr ban u 0x00 cho PORTC while(1) { switch (SENSOR) { case 0b00011000: forward(); break; case 0b00001100: turn_left(); break; case 0b00000110: turn_left(); break; case 0b00000011: turn_left(); break; case 0b00000001: turn_left(); break; case 0b00110000: turn_right(); break; case 0b01100000: turn_right(); break; case 0b11000000: turn_right(); break; case 0b10000000: turn_right(); break; } } }

(Feb 2010)

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Lp trnh Robot t ng n gin vi PIC16F877A

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3 CI TIN CHNG TRNH D NG 3.1 iu khin tc ng c vi cc trng thi lch khi vch trng 3.1.1 Nguyn l i vi chng trnh d ng n gin, khi robot lch tri hoc lch phi, robot s quay phi hoc quay tri iu chnh cho d lch t hay lch nhiu. Nh vy, trong qu trnh di chuyn, robot s lc lin tc v phi quay tri, quay phi lin tc. Do , vi cc mc lch ra khi vch trng khc nhau, ta iu chnh tc 2 bnh tri, phi cho ph hp qu trnh di chuyn theo vch ca robot c nhuyn v mt hn. Bng gi tr tham kho tc ng c tri v ng c phi tng ng vi cc trng thi lch khi vch trng ca robot (xem li hnh 7): Trng thi Tc ng c tri Tc ng c phi Gia vch 100% 100% Lch tri mc 1 90% 80% Lch tri mc 2 80% 70% Lch tri mc 3 70% 60% Lch tri mc 4 60% 50% Lch phi mc 1 80% 90% Lch phi mc 2 70% 80% Lch phi mc 3 60% 70% Lch phi mc 4 50% 60% 3.1.2 iu khin tc ng c DC bng phng php PWM i vi iu khin tc ng c DC trong robot, phng php c s dng ph bin nht l iu bin rng xung (Pulse Width Modulation) hay c gi tt l iu xung, bm xung hoc PWM. Nguyn l ca phng php ny l bt tt nhanh ngun in cp vo ng c to ra mt tn hiu xung. Khi vic bt tt tn s ln (thng s dng t 1kHz n 20kHz), ng c s chy vi 1 tc n nh nh moment quay. Thi gian cp ngun cho ng c l T-on, thi gian tt ngun ng c l T-off. Vic thay i thi gian T-on v T-off lm thay i in p hiu dng cp cho ng c. i vi ng c DC, tc ng c tng i t l thun vi in p cp cho ng c. V vy, bng cch thay i rng ca xung, ta thay i c tc ca ng c DC. i lng biu din mi quan h gia T-on v T-off c gi l duty cycle
duty _ cycle Ton Ton Toff

V d: Ta cp ngun ng c trong 0.8ms, sau tt 0.2ms. Nh vy: T-on = 0.8ms; T-off = 1ms. Tn s PWM l
f 1 1 1 1kHz Ton Toff 0.8ms 0.2ms 1ms

(Feb 2010)

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Lp trnh Robot t ng n gin vi PIC16F877A

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duty _ cycle

Ton 0 .8 0.8 80% Ton Toff 0.8 0.2

V tc ng c DC t l vi duty cycle nn tc ng c t tng ng 80% tc ti a.

Hnh 8: Tnh ton duty cycle iu khin tc ng c DC 3.1.3 iu xung PWM dng vi iu khin iu xung PWM bng phn mm: iu xung PWM mt cch n gin l a 1 chn no ca vi iu khin ln mc 1, sau a xung mc 0. Cng vic ny c lp i lp li lin tc s to ra xung, v tc ca ng c s tng ng vi duty cycle. V d: iu xung trn chn A0 : Code
RA0=1; Delay_ms(Ton); RA0=0; Delay_ms(Toff);

Tuy nhin, nu thc hin bng cch ny th vi iu khin s lun dnh thi gian cho vic iu xung PWM. Do , cc cng vic khc nh nhn tn hiu t cm bin, iu khin cc c cu s b nh hng. iu xung PWM bng phn cng gii quyt vn vic iu xung PWM bng phn mm chim phn ln thi gian hot ng ca vi iu khin, PIC16F877A c h tr 2 knh iu xung bng phn cng 2 chn C1 (CCP2) v C2(CCP1) s dng TIMER2. Ngha l, khi ta khai bo iu xung PWM mt tn s v duty cycle no th vi iu khin s thc hin cng vic xut xung mt cch lin tc v t ng cho n khi ta thay i cc gi tr khai bo. Khi , ta c th lm cc cng vic khc mt cch d dng m khng phi mt thi gian cho vic duy tr xung PWM. Cc hm h tr vic iu xung bng phn cng ca CCS: Ghi ch: Ch cp n cc i s ca cc hm c phc v cho vic iu xung PWM. o setup_timer_2 (mode, period, postscale) mode: T2_DIV_BY_1, T2_DIV_BY_4, T2_DIV_BY_16 period: 0-255 postscale: 1

(Feb 2010)

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Lp trnh Robot t ng n gin vi PIC16F877A

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Tn s iu xung PWM: f

f osc 4.mode.(period 1)

o setup_ccp1(mode) v setup_ccp2(mode) mode: CCP_PWM: chn ch PWM. CCP_OFF: tt ch PWM. o set_pwm1_duty(value) v set_pwm2_duty(value) Nu value l gi tr kiu int 8bit:
duty _ cycle value period 1 value & 1023 4 * ( period 1)

Nu value l gi tr long int 16bit:

duty _ cycle

Nu khng cn iu xung qu mn th nn iu xung gi tr value 8bit cho n gin. V d: Ta mun iu xung PWM vi tn s 10kHz vi tn s thch anh (fosc) s dng l 20MHz (value 8bit).
f f osc 20000000 10000 mode(period 1) 500 4.mode.(period 1) 4.mode.(period 1)

Vi mode = [1,4,16] v period = 0-255 ta c th chn o mode = 4; period = 124 o mode = 16; period = 32 cho vic iu xung c mn (chn c nhiu gi tr duty cycle) ta chn mode = 4 v period = 124. Nh vy, duty_cycle t 0% n 100% ta cho value t 0 n 125. o value = 30 duty _ cycle
30 0.32 32% 124 1 63 o value = 63 duty _ cycle 0.504 50,4% 124 1 113 o value = 113 duty _ cycle 0.904 90,4% 124 1

Code:
setup_timer_2(T2_DIV_BY_4,124,1); setup_ccp1(CCP_PWM); set_pwm1_duty(30);

S dng CCP1 v CCP2 cho ng c tri v ng c phi, ta c th iu khin c tc ca 2 ng c ph hp trng thi lch khi vch trng ca robot. Cc chng trnh con tham kho: vic lp trnh c d dng, ta nn to cc chng trnh con x l tc . Sau y l chng trnh tham kho ca hm speed. o Speed (tc ng c tri, tc ng c phi) Tc : -100 n 100 (chy ngc 100% n chy thun 100%) V d: speed(80,60) ng c tri chy 80%, phi 60%

(Feb 2010)

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Lp trnh Robot t ng n gin vi PIC16F877A

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// Cc hm h tr void left_motor_forward(int value) { MOTOR_LEFT_DIR=0; setup_timer_2(T2_DIV_BY_4,124,1); // Dieu xung 10kHz setup_ccp2(CCP_PWM); set_pwm2_duty(value); } void right_motor_forward(int value) { MOTOR_RIGHT_DIR=0; setup_timer_2(T2_DIV_BY_4,124,1); // Dieu xung 10kHz setup_ccp1(CCP_PWM); set_pwm1_duty(value); } void left_motor_reverse(int value) { MOTOR_LEFT_DIR=1; setup_timer_2(T2_DIV_BY_4,124,1); // Dieu xung 10kHz setup_ccp2(CCP_PWM); set_pwm2_duty(value); } void right_motor_reverse(int value) { MOTOR_RIGHT_DIR=1; setup_timer_2(T2_DIV_BY_4,124,1); // Dieu xung 10kHz setup_ccp1(CCP_PWM); set_pwm1_duty(value); } void left_motor_stop() { setup_ccp1(CCP_OFF); } void right_motor_stop() { setup_ccp1(CCP_OFF); } // Chng trnh x l tc 2 ng c // 0:Stop,100:FORWARD 100%,-100:Reverse 100% void speed (signed int left_motor_speed, signed int right_motor_speed) { int left_pwm_value=0,right_pwm_value=0; /* Left motor */ if( left_motor_speed >= 0 ) { left_pwm_value = 1.25*left_motor_speed; // (125*left_motor_speed/100) left_motor_forward(left_pwm_value); } else { left_motor_speed = -left_motor_speed; left_pwm_value = 1.25*left_motor_speed; // (125*left_motor_speed/100) left_motor_reverse(left_pwm_value);

(Feb 2010)

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Lp trnh Robot t ng n gin vi PIC16F877A

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} /* Right motor */ if( right_motor_speed >= 0 ) { right_pwm_value = 1.25*right_motor_speed; // (125*left_motor_speed/100) right_motor_forward(right_pwm_value); } else { right_motor_speed = -right_motor_speed; right_pwm_value = 1.25*right_motor_speed; // (125*left_motor_speed/100) right_motor_reverse(right_pwm_value); } }

3.2 Nhn bit vch ngang Trong qu trnh di chuyn ca robot, s c cc vch ngang mu trng. Nh cc vch ngang ny, robot bit c mnh ang i n u v s thc hin cng vic g tip theo (quay tri, quay phi, nng h trc, gp nh qu,) Mt cch n gin, khi robot n vch trng, tt c 8 cm bin s ln mc 1 ng vi gi tr c c ca cm bin l 0b11111111 hay 0xFF. Ta dng mt bin m bit th t ca vch ngang ang gp v thc hin cng vic mong mun. Code:
int n // t n l s vch ngang nhn if (SENSOR==0xFF) { n++; // tng gi tr n ln 1 khi gp vch ngang switch (n) { case 1: (cng vic 1) break; case 2: (cng vic 2) break; . case n: (cng vic n) break; } } else (chng trnh d ng)

Tuy nhin, v nhiu l do khc nhau (nhiu do nh sng bn ngoi, cc cm bin c nhy khng u nhau hoc robot tip cn vi vch ngang khng theo phng vung gc), mt vi cm bin khi tip xc vi mu trng nhng khng nhn bit (vn gi trng thi mc 0 mu sm). iu ny gy kh khn cho vic nhn bit vch ngang. V vy, khi 4/8 cm bin mc 1, ta nhn l mt vch ngang khc phc cc nh hng ny. Code:
//KIEM TRA VACH NGANG: 1: co vach, 0:khong co vach int check_cross_line() { int temp_sensor=0,led_in_line=0,i=0; temp_sensor=SENSOR; for (i=0;i<8;i++) {

(Feb 2010)

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if ((temp_sensor&0x01)==0x01) led_in_line++; if (led_in_line==4) break; temp_sensor=temp_sensor>>1; } if (led_in_line==4) return 1; else return 0; }

Do chng trnh nhn vch ngang c gi lin tc kim tra c vch ngang xut hin hay khng nn s dn n tnh trng khi robot n vch ngang, bin m s vch tng thm 1. Sau , khi robot cha kp chy qua vch ngang m hm kim tra c gi dn n vic bin m tng lin tc. Vic ny khin cho robot thc hin sai cng vic. Hng gii quyt tnh hung ny nh sau: o Khi robot gp vch ngang: chy thng o Khi ht vch ngang: bin m s vch tng thm 1 o Thc hin cng vic tng ng Code:
while (check_cross_line() == 1) { speed(100,100); } number_cross_line++; // gp vch ngang // chy thng // tng bin m s vch ngang thm 1

3.3 X l khi robot lch hon ton khi vch Trng hp robot lch ra khi vch (quay qu mnh hoc b va chm), gi tr cm bin c c l 0x00, nh vy robot s b mt phng hng. gii quyt trng hp ny, ta t mt bin trng thi l bin ton cc. Gi bin ny l line_status: o Line_status=0: gia vch; o Line_status=1: lch tri; o Line_status=2: lch phi; Khi c gi tr cm bin d ng (tham kho hnh 7), ta gn lun gi tr cho bin ny. Nh vy khi robot lch hn ra khi vch, ta vn bit c trng thi trc bit quay tri hoc quay phi hng robot di chuyn v pha line. Code
switch (SENSOR) { case 0b00000000: // lch ra hn khi vch { if (line_status==1) // trng thi c l lch tri turn_right(); break; // quay phi di chuyn v pha vch if (line_status==2) // trng thi c l lch phi turn_left(); break; // quay tri di chuyn v pha vch } // Trng thi lch thng thng case 0b00011000: forward(); line_status=0; break; case 0b00001100: turn_left(); line_status=1; break;

(Feb 2010)

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case 0b00000110: case 0b00000011: case 0b00000001: case 0b00110000: case 0b01100000: case 0b11000000: case 0b10000000: }

turn_left(); turn_left(); turn_left(); turn_right(); turn_right(); turn_right(); turn_right();

line_status=1; break; line_status=1; break; line_status=1; break; line_status=2 ;break; line_status=2 ;break; line_status=2 ;break; line_status=2 ;break;

3.4 ng dng encoder 3.4.1 Kin thc c bn v encoder Tham kho ti din n PICVietnam: http://www.picvietnam.com/forum/showthread.php?p=1062#post1062 Trong Robocon, ta thng s dng incremental encoder (encoder tng i) hay cn gi l rotary encoder. Mc ch ca vic s dng encoder trong robot l m s vng quay tnh s vng quay ca ng c (bnh xe), t suy ra qung ng di chuyn v tc ca robot.

Hnh 10: Encoder thng c s dng trong Robocon 3.4.2 S dng PIC nhn v m xung t encoder nhn xung t encoder, ta c th s dng ngt ngoi, ngt timer hoc n gin l tham d mc logic ca cc chn vi iu khin mt cch li n tc. Phn sau y gii thiu cch nhn v m xung ca PIC16F877A dng ngt ngoi B0 (ni vi knh A ca encoder) v chn B1 (ni vi knh B ca encoder). Ta c th lm tng t i vi cc cch nhn xung khc. Khi to ngt ngoi theo cnh ln ti chn B0: Code:
ext_int_edge(0,L_TO_H); enable_interrupts(INT_EXT); enable_interrupts(GLOBAL); // Ngt cnh ln ti RB0 // Cho php ngt ngoi // Cho php ngt ton cc

Chng trnh con phc v ngt: Code:

#int_EXT void EXT_isr(void) //Chng trnh c gi khi c tc ng cnh ln ti chn B0 { if (RB1==1) pulse++; // Nu knh B mc cao th tng gi tr xung thm 1 else pulse--; // Nu knh B mc cao th gim gi tr xung xung 1 }

T gi tr xung tnh c ti cc thi im ta c th tnh ra cc thng s mong mun.

(Feb 2010)

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