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Kod: Markera allt

#include <avr/io.h>
#include <avr/delay.h>

int main()
{
        // Output
        DDRB = 0xFF;
        PORTB &= ~_BV(PD0);

        // Input
        DDRD = 0x00;
        PORTD = _BV(PD0) | _BV(PD1);

        while(1)
        {
                if(!(PIND & _BV(PD0)))
                {
                        // Om PD0 låg, Vänster (1ms)
                        _delay_ms(20);
                        PORTB |= _BV(PB0);
                        _delay_ms(1);
                        PORTB &= ~_BV(PB0);
                }
                else if(!(PIND & _BV(PD1)))
                {
                        // Om PD1 låg, Höger (2ms)
                        _delay_ms(20);
                        PORTB |= _BV(PB0);
                        _delay_ms(2);
                        PORTB &= ~_BV(PB0);
                }
                else
                {
                        // Annars mittläge (1,5ms)
                        _delay_ms(20);
                        PORTB |= _BV(PB0);
                        _delay_ms(1.5);
                        PORTB &= ~_BV(PB0);
                }
        }
}

Kod: Markera allt

+5V----------
     |
     -
    | | 10 kOhm
    | |
     -
     |
     --------o  till A/D
     |
     - /
    |/| Vridpott 10kOhm
   /| |
     -
     |
GND -----

Kod: Markera allt

#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/signal.h>
#include "a2d.c"

#  define OC1 PB5
#  define DDROC DDRD
#  define OCR OCR1A

volatile uint16_t pwm;
volatile uint16_t freq;
volatile uint8_t direction;


SIGNAL (SIG_OVERFLOW1)
{

	// Pulslängd ca 10ms gav bra respons
	ICR1=10000;
	
	//Försök att använda hela området på vridpot
	//pwm_scope=(936/1024)*pwm;
	//OCR=600+pwm_scope;
	
	// Det som funka bäst
	if(pwm*2<1536) // För att inte ge för lång pulstid till servot
		OCR=600+(pwm*2);
	
	// Försök med 8bit ad, 512*3=1536
	//OCR=600+(pwm*3);
}



void
ioinit (void) 
{
	a2dInit(); // Initierar ADC
	
    
    // Using phase & freq correct pwm, TOP=ICR1, freq scaling = 8
	TCCR1A = _BV (COM1A1);
    TCCR1B = _BV (CS11) | _BV (WGM13);
    /* set PWM value to 0 */
    OCR = 0;
    ICR1 = 0;
    /* enable OC1 and PB2 as output */
    DDRD = _BV (OC1);
    //DDRD= 0xFF;
    timer_enable_int (_BV (TOIE1));

    /* enable interrupts */
    sei ();
}

int
main (void)
{
    ioinit ();

    

    while(1)
	{
		pwm=a2dConvert10bit(0);
		freq=a2dConvert10bit(2);
	}

    return (0);
}

Kod: Markera allt

> "make.exe" all

-------- begin --------
avr-gcc (GCC) 3.4.3
Copyright (C) 2004 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.


Compiling: servo2.c
avr-gcc -c -mmcu=attiny2313 -I. -gdwarf-2 -DF_CPU=8000000UL  -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-adhlns=servo2.lst  -std=gnu99 -MD -MP -MF .dep/servo2.o.d servo2.c -o servo2.o 
servo2.c:5:17: a2d.c: No such file or directory
servo2.c:16: warning: `SIG_OVERFLOW1' appears to be a misspelled signal handler
servo2.c: In function `ioinit':
servo2.c:39: warning: implicit declaration of function `a2dInit'
servo2.c: In function `main':
servo2.c:66: warning: implicit declaration of function `a2dConvert10bit'
servo2.c:71:3: warning: no newline at end of file
make.exe: *** [servo2.o] Error 1

> Process Exit Code: 2

Kod: Markera allt

  +5V
   |
   |
   -
  | |
  | |<-----till a/d
  | |
   -
   |
   |
   0V