program gilaaaaa

/*********************************************
This program was produced by the
CodeWizardAVR V1.24.0 Standard
Automatic Program Generator
© Copyright 1998-2003 HP InfoTech s.r.l.
http://www.hpinfotech.ro
e-mail:office@hpinfotech.ro

Project :
Version :
Date : 1/9/2009
Author : boodeee 2009
Company :
Comments:


Chip type : ATmega16
Program type : Application
Clock frequency : 11.059200 MHz
Memory model : Small
External SRAM size : 0
Data Stack size : 256
*********************************************/

#include
#include
#include
#include


#define bawah PORTC.1
#define atas PORTC.2
#define buka PORTC.3
#define tutup PORTC.4
#define kiri PORTC.5
#define kanan PORTC.6
#define maju PORTC.0
#define mundur PORTD.7
#define puter PORTA.6

#define lim_ki PINA.2
#define lim_teng PINA.1
#define lim_ka PINA.0
#define lim_jepit PINA.3


unsigned int i;
unsigned char count,xcount,rcount;

// awal






interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{
TCNT0=200;
count++;
}

void counter(unsigned char xcount)
{
TCCR0=0x06;
TCNT0=0;
while(count
TCCR0=0;

}


void up()
{
bawah=1;
atas=0;
}

void down()
{
bawah=0;
atas=1;
}

void stop_lift()
{
bawah=1;
atas=1;
}
void right()
{ kiri=1;
kanan=0;
}

void left ()
{ kiri=0;
kanan=1;
}

void stop_slide()
{ kiri=1;
kanan=1;
}
void go()
{ maju=0;
mundur=1;
}

void back()
{ maju=1;
mundur=0;
}
void stop_run()
{ maju=1;
mundur=1;
}
void open()
{
buka=0;
tutup=1;
}
void close()
{
buka=1;
tutup=0;
}
void stop_jepit()
{
buka=1;
tutup=1;
}
void stop_all()
{

stop_lift();
stop_jepit();
stop_slide();
// stop_lift();
}

void puter_cw(unsigned char g)
{
PORTA.6=0;PORTA.7=1;
TCCR0=0x06;
TCNT0=0;
while(count
TCCR0=0;
PORTA.6=1;PORTA.7=1;

}
void puter_ccw(unsigned char g)
{
PORTA.6=1;PORTA.7=0;
TCCR0=0x06;
TCNT0=0;
while(count
TCCR0=0;
PORTA.6=1;PORTA.7=1;

}


void chuck()
{
close(); delay_ms(3700);
stop_all();
delay_ms(300);



}

void chuck_lilin()
{
close(); delay_ms(4000);
stop_all();
delay_ms(300);



}

void chuck_bunga()
{
close(); delay_ms(4000);
stop_all();
delay_ms(300);



}




void ambil_boneka()
{
unsigned int i;


open(); back(); down(); delay_ms(5000);
stop_jepit(); stop_run();stop_lift();
for(i=0;i<500;i++)while(lim_ka)left();
stop_slide();

for(i=0;i<=1000;i++)while(lim_jepit)go();
chuck();
up(); delay_ms(1000);
stop_lift();
back(); delay_ms(1000);
stop_run();
left(); delay_ms(6000);

for(i=0;i<=60;i++)while(PINA.4)down(); //delay_ms(1000);
stop_lift();

open(); delay_ms(5000);
stop_jepit();delay_ms(1000);
up(); delay_ms(1000);
stop_lift();

for(i=0;i<500;i++)while(lim_ka)right();
stop_slide();


}


void ambil_lilin()
{
unsigned int i;


open(); back(); down(); delay_ms(5000);
stop_jepit(); stop_run();stop_lift();
for(i=0;i<500;i++)while(lim_teng)left();
stop_slide();

for(i=0;i<=1000;i++)while(lim_jepit)go();
chuck_lilin();
up(); delay_ms(1000);
stop_lift();
back(); delay_ms(1000);
stop_run();
left(); delay_ms(6000);
for(i=0;i<=60;i++)while(PINA.4)down(); //delay_ms(1000);
stop_lift();

open(); delay_ms(5000);
stop_jepit();delay_ms(1000);
up(); delay_ms(1000);
stop_lift();
for(i=0;i<500;i++)while(lim_ka)right();
stop_slide();


}

void ambil_bunga()
{
unsigned int i;


open(); back(); down(); delay_ms(5000);
stop_jepit(); stop_run();stop_lift();
for(i=0;i<80;i++)while(lim_ki)left();
stop_slide();

for(i=0;i<=1500;i++)while(lim_jepit)go();
chuck_bunga();
up(); delay_ms(1000);
stop_lift();
back(); delay_ms(1000);
stop_run();
left(); delay_ms(6000);
for(i=0;i<=60;i++)while(PINA.4)down(); //delay_ms(1000);
stop_lift();

open(); delay_ms(5000);
stop_jepit();delay_ms(1000);
up(); delay_ms(1000);
stop_lift();
for(i=0;i<500;i++)while(lim_ka)right();
stop_slide();;

}


void lilin_tengah()
{
unsigned int i;


open(); back(); down(); delay_ms(5000);
stop_jepit(); stop_run();stop_lift();
for(i=0;i<500;i++)while(lim_teng)left();
stop_slide();

for(i=0;i<=1000;i++)while(lim_jepit)go();
chuck_lilin();
up(); delay_ms(1000);
stop_lift();
back(); delay_ms(1000);
stop_run();
left(); delay_ms(6000);
stop_slide(); delay_ms(1000);
go(); delay_ms(1000);
for(i=0;i<=60;i++)while(PINA.4)down(); //delay_ms(1000);
stop_lift();

open(); delay_ms(5000);
stop_jepit();delay_ms(1000);
up(); delay_ms(1000);
stop_lift();
back(); delay_ms(1000);
stop_run();
for(i=0;i<500;i++)while(lim_ka)right();
stop_slide();


}

void rang_1()
{
unsigned int i;
puter_cw(10); delay_ms(500);
// chuck();
ambil_lilin(); delay_ms(500);
puter_cw(20);
// chuck(); delay_ms(500);
ambil_bunga(); delay_ms(500);
puter_cw(30);
//chuck();
ambil_boneka(); delay_ms(500);
chuck(); delay_ms(500);

}

void rang_2()
{
unsigned int i;
puter_cw(10); delay_ms(500);
// chuck();
ambil_boneka(); delay_ms(500);
puter_cw(20);
// chuck(); delay_ms(500);
ambil_lilin(); delay_ms(500);
puter_cw(30);
//chuck();
ambil_bunga(); delay_ms(500);
chuck(); delay_ms(500);

}




void centre_candle()
{
unsigned int i;


open(); back(); down(); delay_ms(5000);
stop_jepit(); stop_run();stop_lift();
for(i=0;i<500;i++)while(lim_teng)left();
stop_slide();

//for(i=0;i<=1000;i++)while(lim_jepit)go();
go(); delay_ms(1000);
stop_run(); delay_ms(100);
chuck_lilin();
up(); delay_ms(1000);
stop_lift();
back(); delay_ms(1000);
stop_run();
left(); delay_ms(6000);
stop_slide(); delay_ms(1000);
go(); delay_ms(410);
stop_run(); delay_ms(500);
for(i=0;i<=1000;i++)while(PINA.4)down(); //delay_ms(1000);
stop_lift();


stop_run(); delay_ms(500);
open(); delay_ms(5000);
stop_jepit();delay_ms(1000);
up(); delay_ms(200);
stop_lift(); delay_ms(500);
close(); delay_ms(2700);
stop_jepit();delay_ms(500);
down(); delay_ms(100);
stop_lift(); delay_ms(1000);
up(); delay_ms(1000);
back(); delay_ms(1000);
stop_lift(); stop_run();
for(i=0;i<500;i++)while(lim_ka)right();
stop_slide();


}



void main(void)
{
// Declare your local variables here

// Input/Output Ports initialization
// Port A initialization
// Func0=In Func1=In Func2=In Func3=In Func4=In Func5=In Func6=In Func7=In
// State0=T State1=T State2=T State3=T State4=T State5=T State6=T State7=T
PORTA=0xff;
DDRA=0x0;

// Port B initialization
// Func0=In Func1=In Func2=In Func3=In Func4=In Func5=In Func6=In Func7=In
// State0=T State1=T State2=T State3=T State4=T State5=T State6=T State7=T
PORTB=0x00;
DDRB=0x00;

// Port C initialization
// Func0=In Func1=In Func2=In Func3=In Func4=In Func5=In Func6=In Func7=In
// State0=T State1=T State2=T State3=T State4=T State5=T State6=T State7=T
PORTC=0xff;
DDRC=0xff;

// Port D initialization
// Func0=In Func1=In Func2=In Func3=In Func4=In Func5=In Func6=In Func7=In
// State0=T State1=T State2=T State3=T State4=T State5=T State6=T State7=T
PORTD=0xff;
DDRD=0xff;

/*
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
// Mode: Normal top=FFh
// OC0 output: Disconnected
TCCR0=0x00;
TCNT0=0x00;
OCR0=0x00;
*/

// Timer/Counter 0 initialization
// Clock source: T0 pin Falling Edge
// Mode: Normal top=FFh
// OC0 output: Disconnected
TCCR0=0x06;
TCNT0=0x00;
OCR0=0x00;


// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: Timer 1 Stopped
// Mode: Normal top=FFFFh
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
TCCR1A=0x00;
TCCR1B=0x00;
TCNT1H=0x00;
TCNT1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;

// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: Timer 2 Stopped
// Mode: Normal top=FFh
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;

// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
MCUCR=0x00;
MCUCSR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x01;

// USART initialization
// Communication Parameters: 8 Data, 1 Stop, No Parity
// USART Receiver: On
// USART Transmitter: On
// USART Mode: Asynchronous
// USART Baud rate: 9600
UCSRA=0x00;
UCSRB=0x18;
UCSRC=0x86;
UBRRH=0x00;
UBRRL=0x47;//19

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
// Analog Comparator Output: Off
ACSR=0x80;
SFIOR=0x00;

#asm("sei");

delay_ms(500);
DDRA=0x40;
DDRD=0x80;
DDRC=0xff;
DDRB=0x00;
DDRA.2=0;
DDRA.3=0;
DDRA.0=0;
DDRA.1=0;
DDRA.5=0;
DDRA.6=1;
DDRA.7=1;
DDRD.7=1;


for(i=0;i<=1000;i++)while(lim_ki)stop_all();

//while(TCNT0<100){;;};


//for(i=0;i<=1000;i++)while(getchar!='b'){};
//for(;;){if(getchar()=='$')break;}
//open(); delay_ms(6000);
//close(); delay_ms(3000);


//for(;;){


// PORTD.7=0; delay_ms(7000);
// bfor(;;) stop_run();
//fbamcb

//for(;;)PORTA.7=0;

while (1)
{
// rang_2();
// back();
centre_candle();
// lilin_tengah();
stop_lift();
for(;;)stop_all();

};
}