run.asm

一款智能老鼠的玩具源代码

;****************************************************************;
; Set Rules
;
; Function: set some limits to the movement rules
;
; Written by: Kelvin Yuan
; Date: 2004-03-02
;20040710:when received the broadcast sign,the mouse will go ahead to the barrier.
;****************************************************************;
;================================================================;
;Constant Area
;================================================================;
c_mtr_tab_row		equ	#28	;motor move status totoal number range is 0~c_mtr_tab_row+1
c_rnd_range_f		equ	#5	;random number range is 8
c_offset_f_ini		equ	#0

c_flg_left		equ	#0
c_flg_right		equ	#1
c_flg_backup		equ	#2
c_flg_ahead		equ	#3
;//04-04-13// add
c_flg_stop		equ	#4

c_rnd_range_not_stop	equ	#26
;end add //04-04-13//
c_flg_l_rcved		equ	#2
c_flg_r_rcved		equ	#3
c_flg_f_l_rcved		equ	#4
c_flg_f_r_rcved		equ	#5
c_rnd_range_1		equ	#1		;random number range is 1
;c_rnd_range_2		equ	#2		;random number range is 2
;c_rnd_range_3		equ	#3		;random number range is 3
;c_rnd_range_4		equ	#4		;random number range is 4
;c_rnd_range_5		equ	#5		;random number range is 5
;c_rnd_range_6		equ	#6		;random number range is 6
;c_rnd_range_8		equ	#8		;random number range is 8
;c_offset_f		equ	#0
;;--------------------------------------以下为左转的开始偏移
c_offset_l_20		equ	#72		;=9(row)*8(column) left 20 degree
;c_offset_l_40		equ	#80		;=10(row)*8(column) left 40 degree
;c_offset_l_60		equ	#88		;=11(row)*8(column) left 60 degree
;c_offset_l_80		equ	#96		;=12(row)*8(column) left 80 degree
;c_offset_l_100		equ	#104		;=13(row)*8(column) left 100 degree
;c_offset_l_120		equ	#112		;=14(row)*8(column) left 120 degree
;;--------------------------------------以下为右转的开始偏移
c_offset_r_20		equ	#144		;=18(row)*8(column) right 20 degree
;c_offset_r_40		equ	#152		;=19(row)*8(column) right 40 degree
;c_offset_r_60		equ	#160		;=20(row)*8(column) right 60 degree
;c_offset_r_80		equ	#168		;=21(row)*8(column) right 80 degree
;c_offset_r_100		equ	#176		;=22(row)*8(column) right 100 degree
;c_offset_r_120		equ	#184		;=23(row)*8(column) right 120 degree
;;;-------------------------------------以下为红外左右转表的开始偏移
;;//04-03-17// add for swerve when detceting the obstacles
c_offset_l_20_ir	equ	#240		;=30(row)*8(column) left 20 degree
c_offset_l_40_ir	equ	#248		;=31(row)*8(column) left 40 degree
;c_offset_l_60_ir	equ	#256		;=32(row)*8(column) left 60 degree
c_offset_r_20_ir	equ	#312		;=39(row)*8(column) right 20 degree
c_offset_r_40_ir	equ	#320		;=40(row)*8(column) right 40 degree
;c_offset_r_60_ir	equ	#328		;=41(row)*8(column) right 60 degree
c_offset_backup		equ	#384               ;=48(row)*8(column) right 60 degree
;;end adding //04-03-17//
;================================================================;
;Data Area
;================================================================;
	.area    set_rules_var(data)

temp_flg_ir_received::	.ds	1	;store the last flg_ir_received value
flg_last_barrier::	.ds	1	;there is barrier at the last time
;================================================================;
;Code Area
;================================================================;
       .area    Rules_code(code)

Run::
	lda	flg_touched_key
	cmpe	#2
	brnz	No_touched_key
	ret
No_touched_key:
	lda	flg_rcv_broadcast	;received the broadcast sign
	cmpe	#0
	brnz	Run_with_broadcast

	lda	flg_rcv_barrier	;Is there any barrier sign ahead?
	cmpe	#1
	brz	front_barrier
	lda	flg_new_random   ;there isn't barrier
	cmpe	#0
	brnz	Run_next_status  ;the last status finished(flg_new_random=1 or 2)
;--------------------------------------------------------------------------------
;no barrier at this times,the last status isn't finished
	lda	flg_last_barrier
	cmpe	#1
	brz     last_barrier_ahead	;if the last barrier,will go ahead 
	ret  ;no barrier at this times and last times ,the last status isn't finished,no change,go on the current status
last_barrier_ahead:
	lda	#0              ;no barrier at this times,barrier at last times,last status isn't finished
	sta	flg_last_barrier ;go ahead
	br	next_status_ahead
;------------------------------------------------------------------------------------
;no barrier at this time,the last status has be finished
Run_next_status:
	lda	flg_last_barrier       ;the last status has be finished
	cmpe	#0                    
	brz	Run_random_status   ;there isn't barrier in the previous status,will random except backup
	br	last_barrier_ahead  ;no barrier at this time,barrier at last time,current status finished,go ahead
Run_random_status:
	lda	#3	   ;no barrier at this time and last time,last status finished
	sta	m_rnd_range
	br	next_status_l_r_ahead  ;the next status will be left,right,(backup),ahead
;------------------------------------------------------------------------------------------
;barrier at the front
front_barrier:
	lda	#1
	sta	flg_last_barrier
broadcast_no_barrier:              ;broadcast,no barrier(no cheese,seek it)
	lda	flg_motor_status	;if the previous status is turning left or right, the next status is left or right too.
	cmpe	#c_flg_ahead
	brz	next_status_l_r_b	;the next status is a random except ahead
	lda	flg_new_random
	cmpe	#0
	brz	pre_status_continue	;if the previous status is going on,no change director and continue the last status
	lda	flg_motor_status
	cmpe	#c_flg_left
	brz	next_status_left	;repeat the last status
	cmpe	#c_flg_right
	brz	next_status_right	;repeat the last status
	cmpe	#c_flg_backup		;the previous status is backup
	brz	next_status_backup      ;repeat backup
	cmpe	#c_flg_stop		;if the previous status is stop, not stop next.
	brz	next_status_left	;turn left(assume),may turn right
	ret
pre_status_continue:
;	lda	#0		;go on the last status till it is finished(flg_new_random=1)
;	sta	flg_rcv_barrier
	ret
next_status_l_r_b:
	lda	flg_rcv_broadcast
	cmpe	#1
	brz	next_status_l_r
	lda	#2		;0 will turn left,1 will turn right,2 will turn backup
	sta	m_rnd_range
	br	next_status_l_r_ahead
next_status_l_r:
	lda	#1         ;no cheese,only turn left and turn right
	sta	m_rnd_range
next_status_l_r_ahead:
	lda	#0
	sta	rnd_num
	call	read_random
	lda	rnd_num
	cmpe	#c_flg_left
	brz	next_status_left
	cmpe	#c_flg_right
	brz	next_status_right
	cmpe	#c_flg_backup
	brz	next_status_backup
	cmpe	#c_flg_ahead
	brz	next_status_ahead
	ret
next_status_backup:
	lda	flg_rcv_barrier
	cmpe	#0
	brz	Run_random_status  ;read random again,cann't backup
Run_backup::
	lda	#>c_offset_backup
	sta	m_offset_ini_h
	lda	#<c_offset_backup
	sta	m_offset_ini
	lda	#0
	sta	rnd_num		;random data is 0,just only a selection
   	call 	Lookup
	lda	#0
	sta	flg_new_random
	ret
next_status_ahead:
	lda	#>c_offset_f_ini
	sta	m_offset_ini_h
	lda	#<c_offset_f_ini
	sta	m_offset_ini
	lda	#c_rnd_range_f
	br	next_status_set_end1
next_status_right:			;右转
	lda	#>c_offset_r_20
	sta	m_offset_ini_h
	lda	#<c_offset_r_20
	sta	m_offset_ini
	br	next_status_set_end
next_status_left:			;左转
	lda	#>c_offset_l_20
	sta	m_offset_ini_h
	lda	#<c_offset_l_20
	sta	m_offset_ini
next_status_set_end:
	lda	#c_rnd_range_1
next_status_set_end1:
	sta	m_rnd_range
	call	Read_Random
	call 	Lookup
	lda	#0
	sta	flg_new_random
	ret
Run_with_broadcast:
	lda	flg_rcv_barrier	;Is there any barrier sign ahead?
	cmpe	#1
	brz	front_barrier_bc  ;there is barrier,go ahead
	br	broadcast_no_barrier ;no cheese,shall turn left or right
	
front_barrier_bc:
	lda	#>c_offset_f_ini  ;assume the cheese is at the front of mouse
	sta	m_offset_ini_h    ;go ahead
	lda	#<c_offset_f_ini
	sta	m_offset_ini
	lda	#2
	br	next_status_set_end1
	

;set_rules::
;	;lda	flg_new_random
;	cmpe	#1
;;	brnz	set_rules_end
;	brnz	rules_for_ir		;if the flg_new_random is 2, set some rules for run when received ir.
;	
;;-------------------------------------这是flg_new_random==1时的设置一些规则，即是没有障碍物的情况下。
;rules_for_free_run:			;
;	lda	flg_motor_status	;if the previous status is turning left or right, the next move status is straight forward.
;	cmpe	#c_flg_stop		;if the previous status is stop, not stop next.
;	brz	next_status_not_stop	;前一运行状态是停止
;	cmpe	#c_flg_left
;	brz	next_status_forward	;前一运行状态是向左，则下一个是向前
;	cmpe	#c_flg_right
;	brz	next_status_forward	;前一运行状态是向右,则下一个是向前
;next_status_random:			;if not, the next status is selected from the whole move status.
;	lda	#0
;	sta	m_offset_ini		;add the high 8bit of the offset register	
;	sta	m_offset_ini_h
;	lda	#c_mtr_tab_row
;	sta	m_rnd_range
;	br	set_rules_end
;next_status_forward:			;revise for adding the high 8bit of the offset register
;	lda	#>c_offset_f_ini
;	sta	m_offset_ini_h
;	lda	#<c_offset_f_ini
;	sta	m_offset_ini
;	lda	#c_rnd_range_f
;	sta	m_rnd_range
;	br	set_rules_end
;next_status_not_stop:			;add the rules for not stop continuously
;	lda	#>c_offset_f_ini
;	sta	m_offset_ini_h
;	lda	#<c_offset_f_ini
;	sta	m_offset_ini
;	lda	#c_rnd_range_not_stop
;	sta	m_rnd_range
;	br	set_rules_end
;;--------------------------------------这是flg_new_random==2时的设置一些规则，即是有障碍物的情况下。
;rules_for_ir:
;	lda	temp_flg_ir_received	;上一次的红外状态
;	cmpe	#c_flg_l_rcved		;前一个是左边有障碍物	
;	brz	$1
;	cmpe	#c_flg_f_l_rcved
;	brz	$1
;	cmpe	#c_flg_r_rcved
;	brz	$2
;	cmpe	#c_flg_f_r_rcved
;	brz	$2
;	br	set_rules_end
;$1:
;	lda	flg_ir_received		;对照今次的红外状态
;	cmpe	#c_flg_r_rcved
;	brz	next_status_forward
;	cmpe	#c_flg_f_r_rcved
;	brz	next_status_forward
;	br	set_rules_end
;$2:
;	lda	flg_ir_received
;	cmpe	#c_flg_l_rcved
;	brz	next_status_forward
;	cmpe	#c_flg_f_l_rcved
;	brz	next_status_forward
;	
;set_rules_end:
;	lda	#0
;	sta	flg_new_random
;	lda	flg_ir_received