Practice 1 - Robotic

#include <18F4520.h>
#device adc = 10
#fuses XT, PUT, NODEBUG , NOBROWNOUT , NOPROTECT , NOLVP
#use delay(clock=16000000)
#use rs232(baud=9600, bits = 8 , parity = N ,xmit=PIN_C6, rcv=PIN_C7)

void read_adc_chanel();

float adc_sensor_1       = 0;
float adc_sensor_2       = 0;
boolean trigger_timer0   = false;

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

void main(){

   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);

   while(true){

      if(trigger_timer0){
         read_adc_chanel();
      }

   }
}

void read_adc_chanel(){
   set_adc_channel(0);
    delay_ms(20);
   adc_sensor_1 = (read_adc() * 0.4887);
   
   set_adc_channel(1);
   delay_ms(20);
   adc_sensor_2 = (read_adc() * 0.4887);
   

   trigger_timer0 = false;

   printf("Sensor 1 %2.2f \r", adc_sensor_1);
   printf("Sensor 2 %2.2f \r", adc_sensor_2);
}