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~: DC motor controller program in KEIL C :~
#include<reg51.h>
#include <string.h>
sbit rs = P3^1; // rs pin of LCD
sbit en = P3^0; // en pin of LCD
sbit rw = P3^2; // rw pin of LCD
sbit b = P0^7; // busy flag
sbit led1=P2^0; // run indicator
sbit led2=P2^1; // stop indicator
sbit led3=P2^2; // clockwise direction indicator
sbit led4=P2^3; // anticlockwise direction indicator
sbit PWM=P2^4; // PWM output
sbit RL1=P2^5; // relay 1 pin
sbit RL2=P2^6; // relay 2 pin
unsigned int x=10; // ontime
unsigned int y=10; // offtime
unsigned int m=0; // mode
unsigned int d=0; // direction
unsigned int t=100; // time
unsigned int r=0; // run flag
void start(void); // function initilization
void mode(void);
void direction(void);
void incspeed(void);
void decspeed(void);
void inctime(void);
void dectime(void);
void time(unsigned int);
void delay(unsigned int);
void keydly(void);
void busy(void);
void writecmd(unsigned char a) // send command to LCD
{
busy(); // check busy flag
rs = 0; // select command register
rw = 0; // write enable
P0 = a; // send byte to LCD
en = 1; // apply strobe pulse
en = 0;
}
void writedata(unsigned char b) // send data to LCD
{
busy(); // check busy flag
rs = 1; // select data register
rw = 0; // write enable
P0 = b; // write enable
en = 1; // send byte to LCD
en = 0; // apply strobe pulse
}
void busy() // check busy flag of LCD
{
en = 0; // disable display
P0 = 0xFF; // P0 as input
rs = 0; // select command register
rw = 1; // read enable
while(b==1) // if busy bit is 1
{
en=0; // remain withine loop
en=1;
}
en=0;
}
void writestr(unsigned char *s) // send string message to LCD
{
unsigned char l,i;
l = strlen(s); // get length of string
for(i=0;i<l;i++)
{
writedata(*s); // till the length of string
s++; // send characters one by one
}
}
void start() // start rotating motor
{
if(m==0) // for m=0 start continuous mode
{
RL1=0; // switch on RL1
r=1; // set run flag
P1=0xFF; // send all 1's to P1
while(P1==0xFF) // till no key is pressed
{
led1=1; // indication on run LED
PWM=1; // send high logic to PWM pin
delay(x); // on time delay
led1=0;
PWM=0; // now send low logic to PWM
delay(y); // off time delay
}
}
else if(m==1) // for m=1 start reversible mode
{
r=1; // set run flag
P1=0xFF; // send all 1's to P1
while(P1==0xFF) // till no key is pressed
{
led1=1; // run LED=1
PWM=1; // send high on PWM pin
RL2=1; // select one direction
RL1=0; // switch on RL1
time(t); // wait for desired time
RL1=1; // switch off RL1
led1=0; // run LED=0;
time(20); // wait for 1 sec
led1=1; // again run LED=1
RL2=0; // select other direction
RL1=0; // switch on RL1
time(t); // wait for desire time
RL1=1; // switch off RL1
led1=0; // run LED=0
time(20); // wait for 1 sec
}
PWM=0;
}
else if(m==2) // for m=2 start jogging mode
{
r=0; // reset run flag
PWM=1; // send high on PWM pin
RL1=0; // switch on RL1
time(20); // wait for 1 sec
RL1=1; // switch off RL1
PWM=0; // send low on PWM pin
}
}
void direction() // alter the direction
{
keydly(); // key debounce delay
d++; // increment count
if((d%2)==0) // check for even or odd
{
led3=1; // indicate on LEDs
led4=0;
RL2=1; // switch ON / OFF RL2
}
else
{
led3=0;
led4=1;
RL2=0;
}
}
void mode() // change mode of rotation
{
keydly(); // key debounce delay
writecmd(0x80); // display message on first line first column
m++; // increment count
if(m==3) m=0; // if it is 3 reset it
if(m==0) writestr("mode:continuous "); // otherwise display mode
else if(m==1) writestr("mode:reversible ");
else if(m==2) writestr("mode:jogging ");
}
void incspeed() // increase speed
{
int z;
keydly(); // key debounce
writecmd(0xC0); // select second line on LCD
if(y<15) // if not max pulse width
{
x--;
y++; // increase it convert it in to
z=y-5+0x30; // 1 to 10 scale and ASCII
writestr("speed: "); // diaplay speed on LCD
writedata(z);
writestr(" ");
}
else if(y==15) writestr("max speed: 10 "); // if max width display message
}
void decspeed() // increase speed
{
int w;
writecmd(0xC0); // key debounce
keydly();
if(x<15) // if not minimum width
{
x++;
y--; // decrease it
w=y-5+0x30; // do same as above
writestr("speed: ");
writedata(w);
writestr(" ");
}
else if(x==15) writestr("min speed: 1 "); // if min width display message
}
void inctime() // increase time
{
int p;
keydly(); // key debounce delay
writecmd(0xC0);
if(t<180) // if not max time
{
t+=20; // increase it by 1 sec
p=t/20;
p=p+0x30; // convert it in to ASCII
writestr("time: "); // display it
writedata(p);
writestr(" sec ");
}
else if(t==180) writestr("max time: 9 sec"); // if max time display message
}
void dectime() // decrease time
{
int q;
keydly(); // key debounce delay
writecmd(0xC0);
if(t>20) // if not min time
{
t-=20; // decrease it
q=t/20;
q=q+0x30; // do same as above
writestr("time: ");
writedata(q);
writestr(" sec ");
}
else if(t==20) writestr("min time: 1 sec"); // if min time display message
}
void keydly() // key debounce delay
{
int a,b;
for(a=0;a<50;a++)
for(b=0;b<1000;b++);
}
void time(unsigned int c) // change time in seconds
{
int k;
TL1 = 0xAF; // use timer 1
TH1 = 0x3C; // to generate 50 ms delay
TR1 = 1; // start timer
for(k=0;k<=c;k++) // rotate loop in multiples of 20
{
while(TF1==0); // wait till timer overflow
TF1 = 0; // reset the flag
TL1 = 0xAF; // reload it
TH1 = 0x3C;
}
TR1 = 0; // stop timer
}
void delay(unsigned int c1) // change time in micro seconds
{
int a;
TH0=0x9B; // select timer 0
TL0=0x9B; // to generate 100 micro second delay
TR0=1; // start timer
for(a=0;a<c1;a++) // rotate loop between 5 to 15
{
while(TF0==0); // wait until timer overflow
TF0=0; // reset the flag
}
TR0=0; // stop timer
}
void main()
{
TMOD=0x12; // timer1 in 16 bit timer, timer 0 in 8 bit auto reload mode
P2=0xE0; // LEDs off, relays OFF
P0=0x00; // P0, P3 output ports
P3=0x00;
writecmd(0x3C); // initilize LCD
writecmd(0x0E);
writecmd(0x01);
writecmd(0x84); // display message
writestr("DC Motor"); // DC motor controller in
writecmd(0xC3); // center of LCD
writestr("Controller");
time(50); // wait for 2.5 sec
writecmd(0x80);
writestr("mode:continuous "); // display current mode and speed
writecmd(0xC0);
writestr("speed: 5 ");
led3=1; // stop LED on
led2=1; // clockwise direction
agin:P1=0xFF; // P1 as input port
while(P1==0xFF); // wait until any key press
loop:switch(P1)
{
case 0xFE: // for first key
keydly(); // key debounce
led2=0; // stop LED off
start(); // sart rotating motor
break;
case 0xFD: // for second key
keydly(); // key debounce
r=0; // run flag reset
writecmd(0x01);
writestr("motor stop"); // display message
led2=1; // stop LED on
PWM=0; // low logic to PWM pin
RL1=1; // relay1 off
break;
case 0xFB: // for third key
mode(); // select mode
if(r==1) start(); // jump to start if run flag is set
break;
case 0xF7: // for fourth key
direction(); // change direction
if(r==1) start(); // jump to start if run flag is set
break;
case 0xEF: // for fifth key
incspeed(); // increase speed
if(r==1) start(); // jump to start if run flag is set
break;
case 0xDF: // for sixth key
decspeed(); // decrease speed
if(r==1) start(); // jump to start if run flag is set
break;
case 0xBF: // for seventh key
inctime(); // increase time
if(r==1) start(); // jump to start if run flag is set
break;
case 0x7F: // for eigth key
dectime(); // decrease time
if(r==1) start(); // jump to start if run flag is set
break;
}
if(r==1) goto loop; // if run flag is set jump of key detect
else goto agin; // if not jump to again
}
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