Dvojosová kolíska na kameru ovládaná joystickom: Rozdiel medzi revíziami

#define F_CPU 16000000UL	          // Define CPU Frequency()16MHz
#include <avr/io.h>		              // Include AVR std. library file
#include <stdio.h>		              // Include std. library file
#include <util/delay.h>		          // Include Delay header file
        
void ADC_Init()			              // ADC Initialization function
{
	DDRC=0x00;		                  // Make ADC port as input
	ADCSRA = 0x87;		              // Enable ADC, with freq/128
	ADMUX = 0x40;		              // Vref: Avcc, ADC channel: 0
}

int ADC_Read(char channel)
{
	ADMUX = 0x40 | (channel & 0x07);  // set input channel to read
	ADCSRA |= (1<<ADSC);		      // Start ADC conversion 
	while (!(ADCSRA & (1<<ADIF)));
			/* Wait until end of conversion by polling ADC interrupt flag*/
	ADCSRA |= (1<<ADIF);			  // Clear interrupt flag
	_delay_ms(1);				      // Wait a little bit 
	return ADCW;				      // Return ADC word
}
              
int main(void)
{
  ADC_Init();					      // ADC initialize function
  DDRB|=(1<<PB1)|(1<<PB2);			  // Make OC1A and OC1B pin as output
  TCNT1 = 0;					      // Set timer1 count zero
  ICR1 = 4999;					      // Set TOP count for timer1 in ICR1 register //50Hz for 20ms pulse width

	/* Set Fast PWM, TOP in ICR1, Clear OC1A, OC1B on compare match, clk/64 */
  TCCR1A = (1<<WGM11)|(1<<COM1A1)|(1<<COM1B1);
  TCCR1B = (1<<WGM12)|(1<<WGM13)|(1<<CS10)|(1<<CS11);
  
  int c_X = 90 + 512/2; 	          // The value of the initial position
  int c_Y = 90 + 512/2;		          // The value of the initial position

  int ADC_ValueX; 
  int ADC_ValueY;
  
  OCR1A = c_X;			              // motor to the initial position
  OCR1B = c_Y;			              // motor to the initial position
  
  while(1)
  {
	 ADC_ValueX = ADC_Read(0);	      // reading the value from the joystick
	 ADC_ValueY = ADC_Read(1);	      // reading the value from the joystick
	 
	 if(ADC_ValueX >= 715)			  // when the joystick is tilted from its initial position	
	 {
		c_X = c_X +5;			      // changing the position value
		if(c_X >=600)	{c_X = 600;   // to stay in the range of 90 - 600
		if(c_X <=90)	{c_X = 90;}	  // to stay in the range of 90 - 600
	 }
	 if(ADC_ValueX <= 310)
	 {
		c_X = c_X -5;
		if(c_X >=600)	{c_X = 600;}
		if(c_X <=90)	{c_X = 90;}
	 }
	 if(ADC_ValueY >= 715)
	 {
		c_Y = c_Y +5;
		if(c_Y >=600)	{c_Y = 600;}
		if(c_Y <=90)	{c_Y = 90;}
	 }
     if(ADC_ValueY <= 310)
	 {
		c_Y = c_Y -5;
		if(c_Y >=600)	{c_Y = 600;}
		if(c_Y <=90)	{c_Y = 90;}
	 } 
	 OCR1A = c_X;		              // setting the motor to a new value
	 OCR1B = c_Y;		              // setting the motor to a new value
	 _delay_ms(16);		              // wait a bit
  } 
  return(0);
}

#define F_CPU 16000000UL	          // Define CPU Frequency()16MHz
#include <avr/io.h>		              // Include AVR std. library file
#include <stdio.h>		              // Include std. library file
#include <util/delay.h>		          // Include Delay header file
        
void ADC_Init()				      // ADC Initialization function
{
	DDRC=0x00;			          // Make ADC port as input
	ADCSRA = 0x87;			      // Enable ADC, with freq/128
	ADMUX = 0x40;			      // Vref: Avcc, ADC channel: 0
}

int ADC_Read(char channel)
{
	ADMUX = 0x40 | (channel & 0x07);   // set input channel to read
	ADCSRA |= (1<<ADSC);		       // Start ADC conversion 
	while (!(ADCSRA & (1<<ADIF)));
			/* Wait until end of conversion by polling ADC interrupt flag*/
	ADCSRA |= (1<<ADIF);		         // Clear interrupt flag
	_delay_ms(1);				     // Wait a little bit 
	return ADCW;				     // Return ADC word
}
                 
int main(void)
{
  ADC_Init();				// ADC initialize function
  DDRB|=(1<<PB1)|(1<<PB2);		// Make OC1A and OC1B pin as output
  TCNT1 = 0;				// Set timer1 count zero
  ICR1 = 4999;				// Set TOP count for timer1 in ICR1 register //50Hz for 20ms pulse width

	/* Set Fast PWM, TOP in ICR1, Clear OC1A, OC1B on compare match, clk/64 */
  TCCR1A = (1<<WGM11)|(1<<COM1A1)|(1<<COM1B1);
  TCCR1B = (1<<WGM12)|(1<<WGM13)|(1<<CS10)|(1<<CS11);

  while(1)
  {
	 OCR1A = 90 + (ADC_Read(0)/2);	// Read ADC channel 0 and make count in between 90-600
	 OCR1B = 90 + (ADC_Read(1)/2);	// Read ADC channel 1 and make count in between 90-600
	 _delay_ms(16);			// wait a bit
  }  
  return(0);
}