Может кому пригодится. Хорошая штука:
К сожалению с исходником что-то случилось и я решил выложить его сюда пока полностью неразрушил.
Почему-то цикл не повторяется, а микроконтроллер перезагружается. Хотя есть уверенность что я его додыр протёр прошивкой:
Код:
$regfile = "m328pbdef.dat"
$crystal = 8000000
$hwstack = 64
$swstack = 128
$framesize = 288
'=================== Шаговые двигателя===============
Config Porte.0 = Output
Config Portb.6 = Output
Config Portb.7 = Output
Config Portb.1 = Output
Config Portb.2 = Output
Stp2 Alias Portb.6
Dir2 Alias Portb.7
Stp1 Alias Portb.1
Dir1 Alias Portb.2
'Powermoto Alias Porte.0
'Config Porte.0 = Output
'Концевики
Kny Alias Pinc.4
Knx Alias Pinc.5
Config Portc.5 = Input
Config Portc.4 = Input
Clapan Alias Portd.6
Config Portd.6 = Output
Const Offclapan = 1
Const Onclapan = 0
'====================================================
'Powermoto = 0
Dim P As Byte
Dim O As Byte
'Dim I As Byte
Dim Tm As Byte
Dim Vrw As Word
'Dim Vrw2 As Word
Dim Ogrx As Word 'Const Ogrx = 300
Dim Ogry As Word 'Const Ogry = 300
Dim Tmpx As Word
Dim Tmpy As Word
'Числовая система координат INTEGER
Dim X As Integer
Dim Y As Integer
Dim Tmx As Integer
Dim Tmy As Integer
'===================================
Dim Vr_speed As Byte
Dim Tmpausy As Byte
Dim Tmpausx As Byte
Dim Speed As Byte
Dim Speed_sys As Byte
Dim Tm_null As Word
Dim Gx As Byte
Dim Gy As Byte
Dim Ciklix As Word
Dim Cikliy As Word
'Dim Tm_cikli As Byte
Dim Trigx As Byte
Dim Trigy As Byte
Dim X_a As Integer
Dim Y_a As Integer
Dim X_b As Integer
Dim Y_b As Integer
Dim Vri As Integer
Dim Pozicia As Byte
Dim Adrs As Byte
Adrs = 3
Goto Prog:
'======================== Программа цикличного полива
Programma:
Select Case Adrs
Case 1
X_a = 405
X_b = 460
Y_a = -260
Y_b = -355
Ciklix = 10
Cikliy = 0
Tmpausx = 200
Tmpausy = 40
Speed_sys = 25
'Adrs = 1
'Case 1
Case 2 'Клумба у 3 подъезда
X_a = 80
X_b = 380
Y_a = -560
Y_b = -640
Ciklix = 10
Cikliy = 0
Tmpausx = 80
Tmpausy = 12
Speed_sys = 25
Case 3 'Распрыскивание над черёмухой
X_a = 15
X_b = 370
Y_a = -70
Y_b = -170
Ciklix = 10
Cikliy = 0
Tmpausx = 15
Tmpausy = 15
Speed_sys = 30
Case 4 'Первая часть под черёмухой
X_a = 50
X_b = 235
Y_a = -430
Y_b = -510
Ciklix = 10
Cikliy = 0
Tmpausx = 200
Tmpausy = 10
Speed_sys = 25
Case 5 'Вторая часть под черёмухой
X_a = 40
X_b = 130
Y_a = -450
Y_b = -400
Ciklix = 15
Cikliy = 0
Tmpausx = 80
Tmpausy = 40
Speed_sys = 40
Case 6 'Кусты у 2 подъезда
'Gosub Null
Vri = 0
X_a = -210
X_b = -40
Y_a = -270
Y_b = -370
Ciklix = 20
Cikliy = 0
Tmpausx = 100
Tmpausy = 30
Speed_sys = 25
Case 7 'куст у подъезда
X_a = -300
X_b = -310
Y_a = -65
Y_b = -155
Ciklix = 15
Cikliy = 0
Tmpausx = 100
Tmpausy = 40
Speed_sys = 80
Case 8 'Папортник
X_a = -250
X_b = -120
Y_a = -505
Y_b = -565
Ciklix = 25
Cikliy = 0
Tmpausx = 40
Tmpausy = 100
Speed_sys = 25
Case 9 'Куст у урны у 3 подъезда
X_a = -180
X_b = -50
Y_a = -135
Y_b = -200
Ciklix = 20
Cikliy = 0
Tmpausx = 80
Tmpausy = 100
Speed_sys = 25
Case 10 'Два куста у папортника
X_a = -190
X_b = -260
Y_a = -430
Y_b = -570
Ciklix = 20
Cikliy = 0
Tmpausx = 250
Tmpausy = 20
Speed_sys = 25
Case 11 'Дождь
X_a = 310
X_b = -200
Y_a = -50
Y_b = -210
Ciklix = 15
Cikliy = 0
Tmpausx = 30
Tmpausy = 10
Speed_sys = 20
Case 12 'переход перед выходом в ноль
X_a = 100
X_b = 100
Y_a = -20
Y_b = -20
Ciklix = 1
Cikliy = 0
Tmpausx = 60
Tmpausy = 80
Speed_sys = 30
Adrs = 0
End Select
Return
Prog:
X_b = 0
Y_b = 0
X_a = 0
Y_a = 0
'Gosub Null
Pozicia = 0
Clapan = Offclapan
Speed_sys = 100
Speed = 80
Ciklix = 0
Cikliy = 0
Do
If Speed > 0 Then
Decr Speed
Else
Speed = Speed_sys
If Tmpx = 0 Then
If X > Tmx Then
Dir1 = 0
Incr Tmx
Gx = 0
Stp1 = Not Stp1
Tmpx = Tmpausx
Elseif X < Tmx Then
Dir1 = 1
Gx = 0
Stp1 = Not Stp1
Decr Tmx
Tmpx = Tmpausx
Else
Gx = 1
Trigx = Not Trigx
If Trigx = 0 Then
X = X_a
Else
X = X_b
If Pozicia = 0 Then Pozicia = 1
If Ciklix > 0 And Pozicia = 2 Then Decr Ciklix 'Цикли шагов двигателей
End If
End If
Else
If Tmpx > 0 Then Decr Tmpx
End If
If Tmpy = 0 Then
If Y > Tmy Then
Dir2 = 0
Incr Tmy
Stp2 = Not Stp2
Gy = 0
Tmpy = Tmpausy
Elseif Y < Tmy Then
Dir2 = 1
Stp2 = Not Stp2
Decr Tmy
Gy = 0
Tmpy = Tmpausy
Else
Gy = 1
Trigy = Not Trigy
If Trigy = 0 Then
Y = Y_a
Else
Y = Y_b
If Pozicia = 1 Then
Pozicia = 2
Clapan = Onclapan
End If
If Cikliy > 0 And Pozicia = 2 Then Decr Cikliy 'Цикли шагов двигателей
End If
Tmpy = Tmpausy
End If
Else
If Tmpy > 0 Then Decr Tmpy
End If
'=================================================================== Задатчик цикла
If Ciklix = 0 And Cikliy = 0 Then
Clapan = Offclapan
Wait 1
Gosub Null
'Получение новых координат
Gosub Programma:
Adrs = Adrs + 1
Pozicia = 0
Trigx = 0
Trigy = 0
X = X_a
Y = Y_a
Gx = 0
Gy = 0
End If
End If
Loop
Do
Loop
End
Null:
Clapan = Offclapan
If Knx = 0 Then
Dir1 = 0
For P = 1 To 100
Stp1 = Not Stp1
Waitms 10
Next P
End If
If Knx = 1 Then
Do
If Tmx > 0 Then
Dir1 = 1
Elseif Tmx < 0 Then
Dir1 = 0
Else
Dir1 = 1
End If
Vrw = 0
Do
Stp1 = Not Stp1
Waitms 2
If Knx = 0 Then
If Dir1 = 0 Then
Dir1 = 0
For P = 1 To 150
Stp1 = Not Stp1
Waitms 20
Next P
End If
Exit Do
End If
Incr Vrw
Loop Until Vrw = 1450
Dir1 = Not Dir1
Vrw = 0
If Knx = 1 Then
Do
Stp1 = Not Stp1
Waitms 2
If Knx = 0 Then
If Dir1 = 0 Then
Dir1 = 0
For P = 1 To 150
Stp1 = Not Stp1
Waitms 20
Next P
End If
If Knx = 1 Then
Dir1 = 0
Vrw = 0
Do
Stp1 = Not Stp1
Waitms 10
If Knx = 0 Then Exit Do
Incr Vrw
Loop Until Vrw = 1450
End If
Exit Do
End If
Incr Vrw
Loop Until Vrw = 1450
End If
Loop Until Knx = 0
End If
If Kny = 0 Then
Dir2 = 1
For P = 1 To 100
Stp2 = Not Stp2
Waitms 10
Next P
End If
If Kny = 1 Then
Do
If Tmy > 0 Then
Dir2 = 1
Elseif Tmy < 0 Then
Dir2 = 0
Else
Dir2 = 0
End If
Vrw = 0
Do
Stp2 = Not Stp2
Waitms 2
If Kny = 0 Then
If Dir2 = 1 Then
For P = 1 To 150
Stp2 = Not Stp2
Waitms 20
Next P
End If
Exit Do
End If
Incr Vrw
Loop Until Vrw = 1200
Dir2 = Not Dir2
Vrw = 0
If Kny = 1 Then
Do
Stp2 = Not Stp2
Waitms 2
If Kny = 0 Then Exit Do
Incr Vrw
Loop Until Vrw = 1200
End If
Loop Until Kny = 0
End If
'X_a = 0
'Y_a = 0
'X = 0
'Y = 0
'X_b = 0
'Y_b = 0
Tmx = 0
Tmy = 0
'X = 0
'Y = 0
'Gx = 0
'Gy = 0
Tmpausx = 100
Tmpausy = 100
Speed_sys = 100
'Powermoto = 0
Return