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// 서보모터 구현하기
Timer/Counter와 Delay를 이용하여 구현
1. Timer/Counter를 이용하여 구현
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/*
* avr_motor_0910.cpp
*
* Created: 2018-09-10 오후 2:07:45
* Author : USER
*/
#include <avr/io.h>
#define F_CPU 16000000
#include <util/delay.h>
#include "lcd.h"
#include <stdio.h>
#include <avr/interrupt.h>
void io_init(void)
{
MCUCR|=(1<<SRE) | (1<<SRW10);
XMCRA=(1<<SRL2) | (0<<SRL1) | (0<<SRL0) | (1<<SRW01) | (1<<SRW00) | (1<<SRW11);
XMCRB |= 0x00;
}
unsigned int tCount =0;
unsigned int servoCount =0;
ISR (TIMER0_OVF_vect){ // 100us
TCNT0 = 256 -50;
tCount ++;
if ( tCount>= 0 && tCount<=7) PORTB = 0xff;
else if (tCount>7 && tCount <230) PORTB = 0x00;
else tCount=0;
}
int main(void)
{
/* Replace with your application code */
DDRB = 0xff;
DDRE = 0x00; // 스위치
PORTE = 0x70;
PORTB = 0x01;
io_init();
lcd_init();
int flag =0;
TIMSK = 0x01;
TCCR0 = 0x03;
TCNT0 = 256 -50;
sei();
while (1)
{
}
}
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cs |
2. delay함수를 이용하여 구현
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/*
* avr_motor_0910.cpp
*
* Created: 2018-09-10 오후 2:07:45
* Author : USER
*/
#include <avr/io.h>
#define F_CPU 16000000
#include <util/delay.h>
#include "lcd.h"
#include <stdio.h>
#include <avr/interrupt.h>
void io_init(void)
{
MCUCR|=(1<<SRE) | (1<<SRW10);
XMCRA=(1<<SRL2) | (0<<SRL1) | (0<<SRL0) | (1<<SRW01) | (1<<SRW00) | (1<<SRW11);
XMCRB |= 0x00;
}
unsigned int tCount =0;
unsigned int servoCount =0;
int main(void)
{
/* Replace with your application code */
DDRB = 0xff;
DDRE = 0x00; // 스위치
PORTE = 0x70;
PORTB = 0x01;
io_init();
lcd_init();
int flag =0;
while (1)
{
if (((PINE & 0x10)== 0x00)&& flag ==0){
for (int i=0; i<100;i++){
PORTB = 0xff;
_delay_us(700);
PORTB = 0x00;
_delay_us(19300);
}
flag =1;
}
else if (((PINE & 0x20)==0x00)&& flag==0){
for (int i = 0; i<100;i++){
PORTB = 0xff;
_delay_us(2300);
PORTB = 0x00;
_delay_us(17700);
}
flag=1;
}
else if (((PINE &0x40)== 0x00)&& flag==0){
for (int i = 0; i<100;i++){
PORTB = 0xff;
_delay_us(1500);
PORTB = 0x00;
_delay_us(18500);
}
flag =1;
}
else if (PINE==0xff) flag=0;
}
}
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cs |
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