Practice 2 - Robotic

#include <18F4550.h>
#device adc = 10
#fuses XT, PUT, NODEBUG , NOBROWNOUT , NOPROTECT , NOLVP
#use delay(clock=4000000)
#use rs232(baud=9600, bits = 8 , parity = N ,xmit=PIN_C6, rcv=PIN_C7)

void read_adc_chanel();
void evaluate_aceleration();

float adc_sensor_1       = 0;
float adc_sensor_2       = 0;
boolean trigger_timer0   = false;
long potency_wheel_1     = 1023;
long potency_wheel_2     = 1023;
float LIMIT_BLACK        = 3.5;

#INT_TIMER0
void isr_timer(){
   trigger_timer0 = true;
   set_timer0(3036);
}

void main(){
   set_tris_C(0xFF);
   set_tris_B(0xFF);

   enable_interrupts(GLOBAL);
   enable_interrupts(INT_TIMER0);
   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4);
   set_timer0(3036);

   setup_adc(ADC_CLOCK_INTERNAL);
   setup_adc_ports(ALL_ANALOG);

   setup_ccp1(CCP_PWM);
   setup_ccp2(CCP_PWM);
   setup_timer_2(T2_DIV_BY_4,249,1);   //Onda de 4KHz

   output_low(PIN_B1);
   output_low(PIN_B3);

   while(true){
      set_pwm1_duty(potency_wheel_1);
      set_pwm2_duty(potency_wheel_2);

      if(trigger_timer0){
         read_adc_chanel();
         evaluate_aceleration();
      }

   }
}

void read_adc_chanel(){
   set_adc_channel(0);
   delay_ms(20);
   adc_sensor_1 = (read_adc() * 0.004887);

   set_adc_channel(1);
   delay_ms(20);
   adc_sensor_2 = (read_adc() * 0.004887);



   trigger_timer0 = false;
}

void evaluate_aceleration(){
   if(adc_sensor_1 >= LIMIT_BLACK && adc_sensor_2 >= LIMIT_BLACK){
      potency_wheel_1 = 1023;
      potency_wheel_2 = 1023;
   }

   else if(adc_sensor_1 < LIMIT_BLACK){
      potency_wheel_1 = 1023;
      potency_wheel_2 = 500;
   }

   else if(adc_sensor_2 < LIMIT_BLACK){
      potency_wheel_1 = 500;
      potency_wheel_2 = 1023;
   }

}