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The source file name should (but is not required to) end with the extension BAS The text file that is created must be pure ASCII text It must not contain any special codes that might be inserted by word processors for their own purposes You are usually given the option of saving the file as pure DOS or ASCII text by most word processors Program 31 provides a good first test for programming a PIC and for testing the frog robot controller board when it is built in 4 You can type it in or download it from the author s Web site wwwthinkboticscom, and follow the links for book software The file is named frog-testbas and is listed in Program 31 The BASIC source file should be created in or moved to the same directory where the PBPEXE file is located
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PROGRAM 31
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frog-testbas program listing
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'-----------------------------------------------------------------------------------------------------------------------------' Name : Frog-testbas ' Compiler : PicBasic Pro MicroEngineering Labs ' Notes : Program to test the main controller ' : board by flashing LEDs, producing ' : sounds and slowly rotating the servos '-----------------------------------------------------------------------------------------------------------------------------' set porta to inputs trisa = %11111111 ' set portb pins 2 & 3 to inputs trisb = %00001100 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables servo_pos_l VAR BYTE servo_pos_r VAR BYTE timer1 VAR BYTE timer2 VAR BYTE timer3 VAR BYTE temp1 VAR BYTE servo_r VAR PORTB5 servo_l VAR PORTB6
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switch_r VAR PORTA4 switch_l VAR PORTA3 led_l VAR PORTB1 led_r VAR PORTB0 piezo VAR PORTB4 '-----------------------------------------------------------------------------------------------------------------------------low servo_l low servo_r start: for temp1 = 1 to 10 SOUND piezo, [80,4,100,2] low led_l low led_r pause 50 high led_l high led_r next temp1 SOUND piezo, [100,4,120,2,80,2,90,2] low led_l low led_r rotate: servo_pos_r = 170 gosub right_servo servo_pos_l = 130 gosub left_servo goto rotate '-----------------------------------------------------------------------------------------------------------------------------' subroutines to set servos both_servo: for timer1 = 1 to 15 pulsout servo_l,servo_pos_l pulsout servo_r,servo_pos_r pause 6 next timer1 return left_servo: for timer2 = 1 to 10
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PROGRAM 31
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frog-testbas program listing (continued)
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PROGRAM 31
frog-testbas program listing (continued)
pulsout servo_l,servo_pos_l pause 6 next timer2 return right_servo for timer3 = 1 to 10 pulsout servo_r,servo_pos_r pause 6 next timer3 return end
Once you are satisfied that the program you have written will work flawlessly, you can execute the PicBasic Pro Compiler by entering PBP, followed by the name of your text file at a DOS prompt For example, if the text file you created is named frog-testbas, at the DOS command prompt, enter:
PBP frog-testbas
The compiler will display an initialization (copyright) message and process your file If it likes your file, it will create an assembler source code file (in this case, named frog-testasm) and automatically invoke its assembler to complete the task If all goes well, the final PICmicro code file will be created (in this case, frog-texthex) If you have made the compiler unhappy, it will issue a string of errors that will need to be corrected in your BASIC source file before you try compilation again To help ensure that your original file is flawless, it is best to start by writing and testing a short piece of your program, rather than writing an entire 100,000-line monolith all at once and then trying to debug it from end to end If you don t tell it otherwise, the PicBasic Pro Compiler defaults to creating code for the PIC 16F84 To compile code for PICmicros
3 / Microcontrollers and PIC Programming
other than the F84, just use the -P command line option, described later in the manual, to specify a different target processor For example, if you intend to run the above program, frog-testbas, on a PIC 16C74, compile it using the command:
PBP -p16c74 frog-testbas
An assembler source code file for frog-testbas is also generated It is called frog-testasm The assembler source code can be used as a guide if you want to explore assembly language programming because the listing shows the PicBasic Pro statement and the corresponding assembly code on the next line The rest of the chapters discussing software will not be addressing assembly code All we really need to be concerned with is the PicBasic source code and the generated HEX machine code, as listed in Program 32 If you do not have the resources to buy the PicBasic Pro compiler, simply type the listings of the HEX files into a text editor and save the file with the program name and HEX extension All the program listings in the book can also be downloaded from wwwthinkboticscom to make things easier However, I recommend buying a copy of the compiler if you wish to experiment, change, or customize the programs If you decide to continue with robotics and electronics, you will eventually need to buy a compiler, such as PicBasic Pro, when working with microcontrollers
:100000007B28A0003B200C080D04031976287020E3 :1000100084132008800664000D280E288C0A03191A :100020008D0F0B28800676288F0022088400200977 :100030003C2084138F0803197628F03091000E08B5 :1000400080389000F03091030319910003198F0359 :10005000031976282B283F2003010C1820088E1F37 :1000600020088E0803190301900F382880061F28E6s :10007000392800002228FF3A8417800576280D08C9 PROGRAM 32
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