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/*******************************************

Program                 : transmitter

Compiler                : WinAVR

Chip type               : ATtiny2313

System Clock            : 8 MHz

*******************************************/





#include <avr/io.h>

#include <avr/interrupt.h>

#include <util/delay.h>





volatile unsigned char count = 0;



unsigned char usart_data = 's';





// Timer 0 overflow interrupt service routine

ISR(TIMER0_OVF_vect)

{

    TCNT0 = 160;



    PORTD ^= 0b01000000;



    count += 1;



    if( count == 80 )

    {

        TCCR0B = 0b00000000;

    }

}





void USART_Init( unsigned int baud )

{

    /* Set baud rate */

    UBRRH = (unsigned char)(baud>>8);

    UBRRL = (unsigned char)baud;

    /* Enable receiver and transmitter */

    UCSRB = (1<<RXEN)|(1<<TXEN);

    /* Set frame format: 8 data, 1 stop bit */

    UCSRC = (1<<UCSZ1)|(1<<UCSZ0);

}





void USART_Receive( void )

{

    /* Wait for data to be received */

    while ( !(UCSRA & (1<<RXC)) );

    /* Get and return received data from buffer */

    usart_data = UDR;

}





int main(void)

{

    // System Clock Prescaler initialization



    // Clock Prescale Register

    // Bits: CLKPCE - - - CLKPS3 CLKPS2 CLKPS1 CLKPS0

    CLKPR = 0b10000000;

    CLKPR = 0b00000000;





    // Input/Output Ports initialization



    // Port A initialization

    DDRA = 0b00000000;

    PORTA = 0b00000000;



    // Port B initialization

    DDRB = 0b00000000;

    PORTB = 0b11111111;



    // Port D initialization

    DDRD = 0b01000000;

    PORTD = 0b00000000;





    // Baud Rate 9600 bps

    USART_Init(51);





    // Timer/Counter 0 initialization



    // Timer/Counter 0 Control Register A

    // Bits: COM0A1 COM0A0 COM0B1 COM0B0 Reserved Reserved WGM01 WGM00

    TCCR0A = 0b00000000;



    // Timer/Counter 0 Control Register B

    // Bits: FOC0A FOC0B Reserved Reserved WGM02 CS02 CS01 CS00

    TCCR0B = 0b00000000;



    // Timer/Counter 0

    TCNT0 = 160;





    // Timer(s)/Counter(s) Interrupt(s) initialization



    // Timer/Counter Interrapt Mask Register

    // Bits: TOIE1 OCIE1A OCIE1B Reserved ICIE1 OCIE0B TOIE0 OCIE0A

    TIMSK = 0b00000010;





    // Global enable interrupts

    sei();





    while(1)

    {

        _delay_ms(100);



        USART_Receive();



        count = 0;

        TCCR0B = 0b00000001;

        while( count != 80 );



        if( usart_data == 'f' )

        {

            _delay_us(500);

        }



        if( usart_data == 'l' )

        {

            _delay_us(2500);

        }



        if( usart_data == 's' )

        {

            continue;

        }



        if( usart_data == 'r' )

        {

            _delay_us(4500);

        }



        if( usart_data == 'b' )

        {

            _delay_us(6500);

        }



        count = 0;

        TCCR0B = 0b00000001;

        while( count != 80 );

    }



    return 0;

}

(Отредактировано автором: 16 Июня, 2011 - 16:36:49)

#!/usr/bin/env python



import serial



# open port

ser = serial.Serial(0,

                    9600,

                    bytesize = serial.EIGHTBITS,

                    parity = serial.PARITY_NONE,

                    stopbits = serial.STOPBITS_ONE,

                    timeout = 1)



print ser, '\n' # print information



command = ''



while command != 'e' :



    command = raw_input( ' forward left stop right backward exit [f/l/s/r/b/e] : ' )



    if command == 'f' :

        print 'forward'

    elif command == 'l' :

        print 'left'

    elif command == 's' :

        print 'stop'

    elif command == 'r' :

        print 'right'

    elif command == 'b' :

        print 'backward'

    elif command == 'e' :

        print 'exit'

    else :

        command = 's'

        print 'stop'



    ser.write(command)

#    print ser.read() # test



ser.close() # close port

(Отредактировано автором: 17 Июня, 2011 - 13:18:10)

(Отредактировано автором: 18 Июня, 2011 - 00:37:19)

#!/usr/bin/env python





import serial



def serial_port(data) :



    ser = serial.Serial(0,

                        9600,

                        bytesize = serial.EIGHTBITS,

                        parity = serial.PARITY_NONE,

                        stopbits = serial.STOPBITS_ONE,

                        timeout = 3)

    ser.write(data)

#    print ser.read() # test

    ser.close()





def button_forward() :

    serial_port('f')

    print "forward"



def button_left() :

    serial_port('l')

    print "left"



def button_stop() :

    serial_port('s')

    print "stop"



def button_right() :

    serial_port('r')

    print "right"



def button_backward() :

    serial_port('b')

    print "backward"





from Tkinter import *

 

tk = Tk()

tk.title('control panel')



button_1=Button(tk, text='forward', width=10, command=button_forward)

button_1.grid(row=0, column=1)



button_2=Button(tk, text='left', width=10, command=button_left)

button_2.grid(row=1, column=0)



button_3=Button(tk, text='stop', width=10, command=button_stop)

button_3.grid(row=1, column=1)



button_4=Button(tk, text='right', width=10, command=button_right)

button_4.grid(row=1, column=2)



button_5=Button(tk, text='backward', width=10, command=button_backward)

button_5.grid(row=2, column=1)

 

tk.mainloop()

(Отредактировано автором: 19 Июня, 2011 - 10:36:48)