This document contains code for a microcontroller program that uses sensors and motors. It initializes an LCD display and sets up analog to digital converters on specific channels to read sensor values measuring distance in centimeters. If a distance reading is over 100, a buzzer is triggered. Motor speed is controlled using pulse-width modulation based on analog sensor readings.

1. Test Capteurs
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#include <16F877.h>
#fuses XT,NOWDT,NOPROTECT,put,NOlVP
#use delay(clock=4000000)
#include "LCD.c"
#use fast_io(E)
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void bip()
{bit_set(*9,0);
bit_clear (*9,1);delay_ms (250);
bit_set (*9,1);delay_ms (250);
bit_clear (*9,1);delay_ms (250);
bit_set (*9,1);delay_ms (250);
}

2. • //#include <stdlib.h>
• //#include <string.h>
• main ()
• {float value1;float value2;
• lcd_init();
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lcd_putc("f**test capteur**");delay_ms(1000);
lcd_putc("f*carte de cde*");
setup_adc_ports(AN0_AN1_AN2_AN3_AN4);
setup_adc(adc_clock_internal);
set_tris_e(0);output_e(0);
• while(1){

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set_adc_channel( 4);delay_ms(2);
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value1=read_adc();
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value1= 1.2*value1*(100.0/255);printf (lcd_putc,"ndis2=%3.1fCm",value1);
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if (value1>100) {bip();}
else {printf (lcd_putc,"ndis2=%3.1fCm",value1);output_e(0);}
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set_adc_channel( 0 );delay_ms(2);
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value2=read_adc();
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if (value2>100) {bip();}
else {printf (lcd_putc,"ndis1=%3.1fCm",value2);output_e(0);}
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lcd_gotoxy(1,1);value2= 1.2*value2*(100.0/255);printf (lcd_putc,"dis1=%3.1fCm ",value2);
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}
}

4. Commande moteur
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#include <16F877.h>
#fuses XT,NOWDT,NOPROTECT,put,NOlVP
#use delay(clock=20000000)
#include <LCD.c>
#include <stdlib.h>
#include <string.h>
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#include <math.h>
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#define SM1 pin_C4
#define M1 pin_C5
#define SM2 pin_C6
#define M2 pin_C7
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//_____________________________________________________________
void DEPM1 ()

5. •
{
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int value1;
lcd_init();
setup_ccp1(CCP_PWM);
setup_timer_2(T2_DIV_BY_4,255,1);
setup_port_a(ALL_ANALOG);
setup_adc(adc_clock_internal);
set_adc_channel( 2 );
value1=read_adc();Set_pwm1_DUTY(value1);
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value1= value1*(100.0/255);printf (lcd_putc,"v1:%3u%%",value1);
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//}
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//_________________________________________________________________
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}
}