PROGRAM
int c1=0,speed;
char distance[8];
void usinit(void);
void uscheck(void);
// LCD module connections
sbit LCD_RS at RD2_bit;
sbit LCD_EN at RD3_bit;
sbit LCD_D4 at RD4_bit;
sbit LCD_D5 at RD5_bit;
sbit LCD_D6 at RD6_bit;
sbit LCD_D7 at RD7_bit;
sbit LCD_RS_Direction at TRISD2_bit;
sbit LCD_EN_Direction at TRISD3_bit;
sbit LCD_D4_Direction at TRISD4_bit;
sbit LCD_D5_Direction at TRISD5_bit;
sbit LCD_D6_Direction at TRISD6_bit;
sbit LCD_D7_Direction at TRISD7_bit;
// End LCD module connections
void InitMain() {
PWM1_Init(5000);
PWM2_Init(5000);
}
void main(){
trisc.f3=0; trisc.f0=0;
portc.f0=0; portc.f3=0;
InitMain();
PWM1_Start();
PWM2_Start();
Lcd_Init(); // Initialize LCD
Lcd_Cmd(_LCD_CLEAR); // Clear display
Lcd_Cmd(_LCD_CURSOR_OFF); // Cursor off
usinit();
adcon1=7;
trise.f2=0;
trisc.f3=0; trisc.f0=0;
portc.f0=0; portc.f3=0;
trisb.f7=0; portb.f7=0;
while(1)
{
uscheck();
Lcd_Cmd(_LCD_CLEAR);
Lcd_Out(2,1,”DISTANCE=”); Lcd_Out_cp(distance);
if(c1<30){porte.f2=1;portb.f7=0; Lcd_Out(1,1,”OBSTACLE CLOSER”);} else { porte.f2=0; portb.f7=1; }
speed=c1*4;
if (speed>255) speed=255;
PWM1_Set_Duty(speed); PWM2_Set_Duty(speed);
}
}
void uscheck(void)
{
portb.f2=1 ;
delay_us(10);
portb.f2=0 ;
while(!portb.f3);
c1=0;
while(portb.f3) {c1++; delay_us(58); } // 1CM ==58US
IntToStr(c1, distance);
delay_ms(200);
}
void usinit(void)
{
trisb.f3=1; //echoPin
trisb.f2=0; //trigPin
}
CIRCUIT
