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LOoP: ; main loop PORfD3=PORIB O ; so you can see the siSrnal on D3 PCfr0=120 ; open top gate r,cDouE $FE $80, DEC3 POE2" \,zPntSS REgEtz r,cDom $FE, sco, DEc3 couMlER, " rF PoRIBO=0 TIrE!{ l,ooP ; if no marble then go back to loop ADCIN O, POI2 ; r:ead POT0 for servo wait pause POT0-158 ; open top erafe pOTl=150 ; close botton gate c,osuB FAUSER ; Pause beLween moves PO4r0=125 ; close top gate Pdrl-120 ; open botton gate GosttB PAI'SER ; pause beween moves + 1 cot NTER=cottNTER ; count Lhematbte GoIo IooP ; go back to top (ContinueO
soME REIL-WOR|D ||OTES
(Cort ,tif-6lCi!f :li:Lilt Program countmarbles anescapement nued) lo with
DISABIJE INT_ROIITINE: PULSour PoRTC1, POTo PUT-SOtxr PORTCo, POT1 Iri|l!coN2=o RESUME ENAaLE PAUSER: FOR AIPI{A =1 TO Pqr2 P A U S E2 NEXT AI-PEA RETURN END ; ; , ; i ; ; ; ; ; ; ; ; ; disable interrupts the interrupL rouLine is called everv 1/60 of a second and pulses both servos a Then ir theii se! values resets the interrupt flag for Tinero resune progran enable inLerrupts is read fron POTo and this routine how long it is betveen delernines inslruciions !o lhe servosit uith POl'o adjust do no! nake it !o shor! ^'l poo,a s --d \D
The program startsout with both gatesclosed The code in Program l7-2 wiil stay in the "wallloop" ntil switch I is pressed
That opens the top gate and the system is ready to count As soon as a marble stops againsl the lower gate, the marble is detectsd the top gate closes and the bofton gate opens One is added to the counl3r (at this point a dnot dny soo er or later) The botton gate closes The top gate opens and the cycle is repeated When there are no more marbles the system stops Press reset to staft over
Some Real-World Notes
If we weredesigning a real world situation would add sometypeof detectors for we !o makc swe thc gatesactually went in andout asintendcdProximity detectorsof some sol arc rhe detectorsof choice in thal they have no moving pa s we would probably use pneumatic actuato$ and run fte operation lrom a prcgrammablelogic controller (PLC),thoughaswe sawin thisexercise, aPIC wouldbe muchcheaper woulddo and wilh thejobjustlineThe system couldalso,()1-course designed usetwo solenoids be !o appropriateIN/OUT detectors Thepreceding the simplest is way to countthe marbies, it is pdi,l4rlb rlorr Slow but enoushto be counted with an exDensive PLC!
U DEnSt llDlNG THE COUNTEBS: COUI{T|IG illRBlES
Countingto a RegisterUsing an Intenupt
Whcn themarblesarecoming fastandfurious,we crnnot stopthemoneat a time andcount them as we did in the previousprogramWe needa fasterway of doing thejob Onc way is to have eachmarble causcan intcmrpt and then in the intenxpt irutine incremeni the in variable hasthemarble that counlin il (Kccping nind thatthelargestvddable PBP in is 16 bits or 65,536,unlesswe make anangemcnts count to a larger numberby keep!o ing trackofthe overflows 65,536) at The programkeeps counting the ma$]es run oul Reset till takesyou backup to the process whenit willbefast enough mostcounting, therearc instances for but topThis laterin this chapter will nol a topic we will discuss escapenen! The Iront endof Programl73 is very similar to thetop of lhe preceding program The changes in how we do the countjng are (Prosram for use n real nol lt ItifAi!:!t!,:9,t: rhis prosramis not executable only) counling it is now;Jor as discussion examinalion and Thetop of lhc program now lookslike lbrs: CLEAR ; always start with cLear variables
DEFINE OSC 4 DEFINE l,cD DREG PoRID DEFINE tCD DBII 4 DEFINE I,CD RSREG PORTE DEFINE ITCD_RSBIT O DEFINE I,CD EREG PORTE DE!'NE I,CD EBI4 T LOW pORlEE2 DEFINE LCD_CoMMANDUS 2000 DEFITiIE IJCD DATAUS 50 DEFTNE ADc BIES 8 DEFTNE ADC CLOCK 3 DEFTNE ADc saMPLEus 50 deflne osc speed i alFays ; def,ne LcD conneclions ; and bits ; i vrlte onLy ; 1or mean we riLL in nicro seconds , delay in nicro seconds ; delay in resuLt ; set number of biis (3=rc) source set intetnaL clock ; time in us ; set sampling io
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