#freeze
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*サーボモーターを動かす(16F1827 XC8) [#fb4a5be8]

タイマー割り込み機能の応用として、サーボモーターを動かしてみた。
↓使用したサーボモーター RB303
http://www.ministudio.co.jp/Cgi-bin/Order-JP/DetailJp.asp?GoodsNum=97
サーボモーターは1ms〜2msのパルス信号を、周期15ms〜20msで送信する事で制
御します。
http://homepage3.nifty.com/mitt/pic/pic5_23.html
【ポイント】
1.TMR0割り込みで15msの周期を作成
今回はTimer0割り込みで15.104msの周期を作成しサーボの制御信号としました。
2.グローバル変数angleにてパルス信号幅を制御
引数に変数設定できるarg_delay()遅延関数を作り、グローバル変数angleで
パルス信号幅を制御しました。0〜240, サーボ中位地は120　　2014/1/5

|&attachref(TS3V0007.JPG,zoom,200x300,button){新しい写真添付};|&attachref(サーボモーター制御信号のロジアナ画面.jpg,zoom,200x250,button){新しい写真添付};|&attachref(16F1827ピン配置.JPG,zoom,200x250,button){新しい写真添付};|

 /* サーボモーターの制御（タイマー割り込み）
  * PIC16F1827
  * XC8 v1.20
  * Servo:RA1
  * LED:RA2
  */
 #include <xc.h>
 
 #pragma config FOSC = INTOSC, WDTE = OFF, BOREN = OFF, IESO = OFF, FCMEN = OFF
 #pragma config PLLEN = OFF, STVREN = OFF, LVP = OFF
 
 //__delay_us(), __delay_ms()へのクロック情報の設定
 #define _XTAL_FREQ 8000000 //PICのクロックをHzで設定(8MHz)
 
 //関数のプロトタイプ宣言
 extern void arg_delay(unsigned int x);
 
 //グローバル変数の定義
 unsigned char angle; //サーボの振れ角度
 
 int main(void) {
     //PICの初期設定
     PORTA = 0b00000000; //PORTAの中身をきれいにする
     TRISA = 0b00000000; //PORTA全てを0:出力に設定
     OSCCON = 0b01110000; //PLL:OFF, 内部クロック8MHzで駆動
     ANSELA = 0b00000000; //AN0-AN4は全て0:デジタルI/Oとする
 
     //TMR0割り込みの初期設定
     //15.104ms=0.125us(8MHz)*4*プリスケーラー256*118カウント
     //ちなみに19.968ms=0.125us(8MHz)*4*プリスケーラー256*156カウント
     OPTION_REG = 0b0111; //プリスケーラ値設定0b0111(=256回)
     TMR0 = -118; //TMR0カウント値設定 118回(アップカウンタ)
     INTCONbits.TMR0IE =1; //タイマ割込み許可
     INTCONbits.GIE = 1; //全体割込み許可
 
     //メイン処理
     LATAbits.LATA2 = 1; //RA2:パワーオンを示すLED点灯
     angle = 120; //サーボの触れ角を０度に
     while(1) {
         //基準角度確認
         angle = 0; __delay_ms(2000);
         angle = 120; __delay_ms(2000);
         angle = 240; __delay_ms(2000);
         angle = 120; __delay_ms(2000);
 
         //左端から右端まで首を振る
         for(angle = 0; angle < 240; angle++)
             __delay_ms(50);
         for(angle = 240; angle > 0; angle--)
             __delay_ms(50);
     }
 }
 
 static void interrupt isr(void) { //割り込み関数
     if(INTCONbits.TMR0IF == 1) {  //割込み種がTimer0割込みの場合
         INTCONbits.TMR0IF = 0; //Timer0割り込みフラグクリアー
         TMR0 = -118; //TMR0カウント値設定 118回(アップカウンタ)
 
         LATAbits.LATA1 = 1; //パルスON
         arg_delay(100 + angle); //パルスON時間
         LATAbits.LATA1 = 0; //パルスOFF
     }
 }
 
 //待ち時間が変数設定できるarg_delay()関数を定義
 //（_delay()は引数に変数設定が出来ない為）
 void arg_delay(unsigned int x) {
      while(x) {
          _delay(1);
          x--;
      }
 }
　
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#vote(はい[3],普通[1],いいえ[1])
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