hello every body,
I need help on my line follower robot based on PIC 16f877A. i download C source code and try to compile this code in MPLAB. but it show missing error in first 6 line. but i can't find any problem those line. i give the code without header file. plz any body find the error or convert it HEX format.
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#include <16F877A.H>; //declare a PIC header
#device adc=8; //set the bit for ADC
#fuses hs, nowdt, noprotect; //set the PIC protection
#use delay (clock=20000000); //set the clock frequency
#byte porta=5; //assign port a
#byte portd=8; //assign port d
int val1; //ADC value 1 left sensor
int val2; //ADC value 2 center sensor
int val3; //ADC value 3 right sensor
int vref; //voltage reference
void lmotor(int gear); //left motor function
void rmotor(int gear); //right motor function
void main() //main function
{
vref=0x7f; //set voltage reference value
set_tris_d(0); //declare port d as output
setup_port_a(all_analog); //enable port a as ADC port
setup_adc(adc_clock_internal); //set the clock for ADC
setup_ccp1(ccp_pwm); //set enable ccp1
setup_ccp2(ccp_pwm); //set enable ccp2
setup_timer_2(t2_div_by_4,100,1); //set post scaler timer
while(1) //inifinite loop
{
portd=0xaa; //set value for motor
set_adc_channel(0); //ADC at port A0 channel
val1=read_adc(); //read and store A0 value
set_adc_channel(2); //ADC at port A2 channel
val2=read_adc(); //read and store A2 value
set_adc_channel(4); //Adc at port A4
val3=read_adc(); //read and store A4 value
//start condition
//if sensor sense dark then value is greater than Vref
//if sensor sense bright then value is lower than Vref
if(val2>vref) //if sensor 2 is dark
{
if((val1<vref)&&(val3<vref)) //sensor 1&3 is bright
{ //send value to motor ccp
lmotor(70); //both motor moving at same rate
rmotor(70);
}
else if (val1>vref) //sensor 1 is dark
{
lmotor(0); //left motor stop
rmotor(70); //right motor move
}
else if (val3>vref) //sensor 3 is dark
{
lmotor(70); //left motor move
rmotor(0); //right motor stop
}
}
else if ((val1>vref)&&(val3<vref)) //if only sensor 1 is dark
{
lmotor(0); //left motor stop
rmotor(70); //right motor move
}
else if ((val3>vref)&&(val1<vref)) //if only sensor 3 is dark
{
lmotor(70); //left motor move
rmotor(0); //right motor stop
}
else //other than condition above
{
lmotor(60); //left motor move slow
rmotor(60); //right motor move slow
}
}
}
//end program
void lmotor(int gear) //left motor ccp control function
{
set_pwm1_duty(gear); //ccp1 duty cycle
}
void rmotor(int gear) //right motor ccp control function
{
set_pwm2_duty(gear); //ccp2 duty cycle
}
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It is very very emargency in my study.
Plz help me very queckly.
Thanks to all
Mehedi.
