prog36.asm

主要是8051源代码

;  PROG36 - Getting 51 Bot's Wheels Turning 
;
;
;  This is the first program of the "51Bot" and Will be Used to Start
;   turning the wheels.  The Robot will go forward for 2 Seconds and then
;   turn to the right for one second and then repeat the going forward for
;   2 seconds.  
;
;  Myke Predko
;  98.03.22
;
;  Hardware Notes:
;  AT89C2051 is used as the Microcontroller
;   - Oscillator Speed is 20 MHz
;  Wheel PWM Control is at P1.3
;  Left Motor Control 1 is at P1.6
;  Left Motor Control 2 is at P1.2
;  Right Motor Control 1 is at P1.7
;  Right Motor Control 2 is at P1.4
;  LED Control is at P1.5

;  Constant Declarations

;  Variable Declarations
DlayVar EQU 030h                ;  Delay Subroutine Variables - 3 Bytes

;  Macros


;  Mainline
 org 0                          ;  Execution Starts Here

Loop:                           ;  Loop Around Here

  acall   Forward               ;  Go Forward for two Seconds

  acall   Dlay
  acall   Dlay

  acall   Right                 ;  Turn Right for one Second
  acall   LED_ON

  acall   Dlay

  acall   LED_OFF               ;  Turn OFF the LED

  ajmp    Loop


Left:                           ;  Turn Left

  mov     A,#%00100011          ;  Clear the P1 Bits NOT Doing Motion
  anl     A,P1                  
  orl     A,#%11001000          ;  Enable the Robot to Go Forwards
  mov     P1,A

  ret

Right:                          ;  Turn Right

  mov     A,#%00100011          ;  Clear the P1 Bits NOT Doing Motion
  anl     A,P1                  
  orl     A,#%00011100          ;  Enable the Robot to Go Forwards
  mov     P1,A

  ret

Backward:                       ;  Go Backwards

  mov     A,#%00100011          ;  Clear the P1 Bits NOT Doing Motion
  anl     A,P1                  
  orl     A,#%01011000          ;  Enable the Robot to Turn Right
  mov     P1,A

  ret

Forward:                        ;  Go Forward

  mov     A,#%00100011          ;  Clear the P1 Bits NOT Doing Motion
  anl     A,P1                  
  orl     A,#%10001100          ;  Enable the Robot to Turn Right
  mov     P1,A

  ret

LED_ON:                         ;  Turn On the LED

  clr     P1.5                  ;  Clear the LED Bit

  ret

LED_OFF:                        ;  Turn OFF the LED

  setb    P1.5

  ret

Dlay:                           ;  One Second Delay (1,666,666 Cycles)

  mov     DlayVar,#0            ;  Set the 1 Second Delay Variables
  mov     DlayVar+1,#179
  mov     DlayVar+2,#13

DlayLoop:                       ;  Delay Loop for 1 Second
  djnz    DlayVar,DlayLoop      ;  Loop for 1,666,666 Cycles
  djnz    DlayVar+1,DlayLoop
  djnz    DlayVar+2,DlayLoop

  ret