Ejemplo 6 - Sensores infrarrojos

/* Autor: Jose Maria Quiroga
   chispilinux@gmail.com
   GNU-Electronica

RB7 A  CD4052
RB6 B
RB5 
RB4 
RB3 
RB2 
RB1 
RB0 INT

RC7 RX
RC6 TX 
RC5 IN - LM562
RC4 SDA 
RC3 SCL
RC2 CE  PWM   L293D
RC1 B
RC0 A

RA0 AN0  
RA1 AN1  
RA2 AN2  
RA3 VRef + 
RA4 LED
RA5 AN4  */

#include <pic16f873a.h>
#include <usart.h>
#include <adc.h>
typedef unsigned int word;
word at 0x2007 CONFIG = _XT_OSC & _WDT_OFF & _PWRTE_ON & _BODEN_ON & _LVP_OFF & _CPD_OFF & _WRT_OFF & _DEBUG_OFF & _CP_OFF;

#define CA RB7
#define CB RB6
#define LED RA4
#define IN RC5
#define MA RC0
#define MB RC1
#define CE RC2

void retardo50ms(int m);

void main() {
 Configuracion(); 
 ConfigUART();
 ConfigADC();
 PORTA=0;PORTB=0;PORTC=0;
 
 while(1){
  CA=0;CB=0;
  if (IN==0){
   retardo50ms(1);
   if (IN==0)LED=0;
  }else{
   LED=1;
  }
 }
}


void Configuracion(){
  TRISA=0b00101111;
  TRISB=0b00000000;
  TRISC=0b10100000;

  INTCON=0b00000000;
  T0CS = 0;
  TMR0 = 0;
  PSA = 0;
}


void retardo50ms(int m){
unsigned int i;
for (i=1;i<=m;i++) {
 PS2=1; PS1=1; PS0=1; 
 T0IF = 0;
 TMR0=255;
 while(T0IF==0);
}
}

Sensores de obstaculos