'@ Platform: PicBasic
'@ Version: 1.0
'@ Author: Brian Patton (brianp@robodyssey.com)
' Robodyssey Systems, LLC. - www.robodyssey.com
'@ Last Updated: Dec 30, 2003
'***********************************************
'Nice experiment lighting Leds connected to ports B and C
'Port A has voltage dividers hooked to RA0 and RA1
'The Voltage Dividers each have a photo resistor.
'A sharp sensor is connected to RA2.

'This program provides a bar graph Led output of light intensity
'on PortC and a Led bar graph of distance on PortB
'Enjoy!
'*********Materials*****************************
' 1 Robodyssey PicPac MotherBoard
' 1 Pic16F876 or similar
' 9 Leds w pull up resistors
' 1 Sharp GP2D12 sensor
' 2 Voltage Divider boards
' 2 Photo Resistors
' PicBasic Compiler and a programmer

'***********************************************
' Register Locations

Symbol TRISA = $85 ' Register Location of TRISA
Symbol TRISC = $87 ' Register Location of TRISC
Symbol PortC = 7 ' Register Location of PortC
Symbol ADCON0 = $1F ' Register location of ADCON0
Symbol ADCON1 = $9F ' Register Location of ADCON1
Symbol ADRESH = $1E ' Register Location of ADRESH
Symbol ADRESL = $9E ' Register Location of ADRESL

'*****Initiation********************************
Init:
Dirs = %11111111 ' Set all Port B to output


'*****Main Code Block Area**********************

'************ A/D Read *************************

Start:
poke TRISC, %00000000 'Set all PortC Output
poke TRISA, %11111111 'Set all PortA Input
poke ADCON1, %00000010 'xxxx0010 - PortA 0-4 analog inputs, 5-7 digital inputs
'0xxxxxxx Sets result to Left justified
'1xxxxxxx Sets result to Right justified
AD0chk:
poke ADCON0, %11000001 'Set A/D to RC Osc, Channel 0, A/D converter ready
'xx000xxx-Chan 0(RA0), xx001xxx-Chan 1(RA1),
'xx010xxx-Chan 2(RA2), xx011xxx-Chan 3(RA3),
'xx100xxx-Chan 4(RA4), xx101xxx-Chan 5(RA5),
'xx110xxx-Chan 6(RA6), xx111xxx-Chan 7(RA7),

b0 = %11000101 'xxxxx1xx - on, xxxxx0xx - off
Poke ADCON0,b0 ' Turn on the conversion at Bit 2

AD0fin:
Pause 5
Peek ADCON0,b0
If b0 = %11000101 Then AD0fin ' Wait for low on bit-2 of ADCON0, conversion finished
Peek ADRESH,b3 ' Move HIGH byte of result B3 variable


AD1chk:
poke ADCON0, %11001001 'Set A/D to RC Osc, Channel 1, A/D converter ready
'xx000xxx-Chan 0(RA0), xx001xxx-Chan 1(RA1),
'xx010xxx-Chan 2(RA2), xx011xxx-Chan 3(RA3),
'xx100xxx-Chan 4(RA4), xx101xxx-Chan 5(RA5),
'xx110xxx-Chan 6(RA6), xx111xxx-Chan 7(RA7),

b0 = %11001101 'xxxxx1xx - on, xxxxx0xx - off
Poke ADCON0,b0 ' Turn on the conversion at Bit 2

AD1fin:
Pause 5
Peek ADCON0,b0
If b0 = %11001101 Then AD1fin ' Wait for low on bit-2 of ADCON0, conversion finished
Peek ADRESH,b4 ' Move HIGH byte of result B4 variable

AD2chk:
poke ADCON0, %11010001 'Set A/D to RC Osc, Channel 2, A/D converter ready
'xx000xxx-Chan 0(RA0), xx001xxx-Chan 1(RA1),
'xx010xxx-Chan 2(RA2), xx011xxx-Chan 3(RA3),
'xx100xxx-Chan 4(RA4), xx101xxx-Chan 5(RA5),
'xx110xxx-Chan 6(RA6), xx111xxx-Chan 7(RA7),

b0 = %11010101 'xxxxx1xx - on, xxxxx0xx - off
Poke ADCON0,b0 ' Turn on the conversion at Bit 2

AD2fin:
Pause 5
Peek ADCON0,b0
If b0 = %11010101 Then AD2fin ' Wait for low on bit-2 of ADCON0, conversion finished
Peek ADRESH,b5 ' Move HIGH byte of result B5 variable


'****** Turn on Leds based on A/D value**********

AD0Led1: 'Check the AD value stored in b3
if b3 > 25 then AD0Led2 'If over 25 then move on
Poke PortC,%00000001 'Poke the First Led on Port C
goto AD1Led1 'Move on

AD0Led2:
if b3 > 50 then AD0Led3 'If over 50 then move on
Poke PortC,%00000011 'Poke the 1rst 2 Leds
goto AD1Led1 'Move on

AD0Led3: 'over 50
Poke PortC,%00000111 'Peg all three Leds
goto AD1Led1 'Check the other next AD value stored in b4

AD1Led1: 'Check the AD value stored in b4
if b4 > 25 then AD1Led2 'If over 25 then move on
peek PortC, b6 'Find the values from AD0 above
b7 = b6 + %10000000 'Add them to the next Led value
poke PortC, b7 'Shove them up the port
goto AD2Led1 'Move On

AD1Led2:
if b4 > 50 then AD1Led3 'If over 50 then move on
peek PortC, b6 'Find the values from AD0 above
b7 = b6 + %11000000 'Add them to the next Led value
poke PortC, b7 'Turn on the next light
goto AD2Led1 'Move on

AD1Led3: 'over 50
peek PortC, b6 'Find the values from AD0 above
b7 = b6 + %11100000 'Add them to the next Led value
poke PortC, b7 'Turn on the next light
goto AD2Led1 'Move On


AD2Led1: 'Check the AD value stored in b5
if b5 > 40 then AD2Led2 'If over 40 then move on
Low 5 'Turn off Led RB5
Low 6 'Turn off Led RB6
Low 7 'Turn off Led RB7
goto cont 'Let's head for the end

AD2Led2:
if b5 > 75 then AD2Led3 'If over 75 then move on
High 5 'Turn on Led RB5
Low 6 'Turn off Led RB6
Low 7 'Turn off Led RB7
goto cont 'Let's head for the end

AD2Led3:
if b5 > 125 then AD2Led4 'If over 125 then move on
High 5 'Turn on Led RB5
High 6 'Turn on Led RB6
Low 7 'Turn off Led RB7
goto cont 'Let's head for the end


AD2Led4: 'over 125 so...
High 5 'Turn on Led RB5
High 6 'Turn on Led RB6
High 7 'Turn on Led RB7
goto cont 'Head for the end

cont:
Pause 10 'Chill for a bit
goto AD0chk 'Start it all over again
end