📄 lookup_table.asl
字号:
0000 249 c_140_pls_h_ir equ #00h
0050 250 c_160_pls_l_ir equ #050h ;=80, 0.16s
0000 251 c_160_pls_h_ir equ #00h
005A 252 c_180_pls_l_ir equ #05ah ;=90, 0.18s
0000 253 c_180_pls_h_ir equ #00h
+ 254 ;end add //04-03-17//
+ 255
00DC 256 c_pause_1_pls_l equ #0dch ;pause time is about 3s.
0005 257 c_pause_1_pls_h equ #05h
00C4 258 c_pause_2_pls_l equ #0c4h ;pause time is about 5s.
0009 259 c_pause_2_pls_h equ #09h
00AC 260 c_pause_3_pls_l equ #0ach ;pause time is about 7s.
000D 261 c_pause_3_pls_h equ #0dh
+ 262
0088 263 c_stop_pls_l equ #088h ;stop time is about 10s.
0013 264 c_stop_pls_h equ #013h
+ 265
+ 266 ;-----------------------------------------------;
+ 267
005A 268 motor_table::
+ 269
+ 270 ;flg_motor_status, m_prtd_ctrl_1_1, m_prtd_ctrl_2_0, m_prtd_ctrl_2_1, m_ctrl_t1,m_ctrl_t2, m_ctrl_pulse, m_ctrl_pulse+1
005A 03 78 D7 50 271 db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_med_t1, c_ctrl_t2, c_med_1_pls_l, c_med_1_pls_h ;0 前进,中速,短距离
005E 0D 10 F4 00
0062 03 78 D7 50 272 db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_med_t1, c_ctrl_t2, c_med_2_pls_l, c_med_2_pls_h ;1 前进,中速,中距离
0066 0D 10 E8 02
006A 03 78 D7 50 273 db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_med_t1, c_ctrl_t2, c_med_3_pls_l, c_med_3_pls_h ;2 前进,中速,长距离
006E 0D 10 DC 03
0072 03 78 D7 50 274 db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_slow_t1, c_ctrl_t2, c_slow_1_pls_l, c_slow_1_pls_h ;3 前进,慢速,短距离
0076 0A 10 F4 00
007A 03 78 D7 50 275 db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_slow_t1, c_ctrl_t2, c_slow_2_pls_l, c_slow_2_pls_h ;4 前进,慢速,中距离
007E 0A 10 E8 02
0082 03 78 D7 50 276 db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_slow_t1, c_ctrl_t2, c_slow_3_pls_l, c_slow_3_pls_h ;5 前进,慢速,长距离(56-64)
0086 0A 10 DC 03
008A 03 78 D7 50 277 db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_fast_t1, c_ctrl_t2, c_fast_1_pls_l, c_fast_1_pls_h ;6 前进,快速,短距离(-)
008E 11 10 F4 00
0092 03 78 D7 50 278 db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_fast_t1, c_ctrl_t2, c_fast_2_pls_l, c_fast_2_pls_h ;7 前进,快速,中距离
0096 11 10 E8 02
009A 03 78 D7 50 279 db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_fast_t1, c_ctrl_t2, c_fast_3_pls_l, c_fast_3_pls_h ;8 前进,快速,长距离
009E 11 10 DC 03
+ 280
00A2 00 78 CF 48 281 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_20_pls_l, c_20_pls_h ;9 左转,20度 (-)
00A6 0E 10 A0 00
00AA 00 78 CF 48 282 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_40_pls_l, c_40_pls_h ;10 左转,40度
00AE 0E 10 C3 00
00B2 00 78 CF 48 283 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_60_pls_l, c_60_pls_h ;11 左转,60度
00B6 0E 10 E6 00
00BA 00 78 CF 48 284 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_80_pls_l, c_80_pls_h ;12 左转,80度
00BE 0E 10 09 01
00C2 00 78 CF 48 285 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_100_pls_l, c_100_pls_h ;13 左转,100度
00C6 0E 10 2C 01
00CA 00 78 CF 48 286 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_120_pls_l, c_120_pls_h ;14 左转,120度
00CE 0E 10 4F 01
00D2 00 78 CF 48 287 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_140_pls_l, c_140_pls_h ;15 左转,140度
00D6 0E 10 72 01
00DA 00 78 CF 48 288 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_160_pls_l, c_160_pls_h ;16 左转,160度
00DE 0E 10 95 01
00E2 00 78 CF 48 289 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_180_pls_l, c_180_pls_h ;17 左转,180度 (-)
00E6 0E 10 B8 01
+ 290
00EA 01 78 B7 30 291 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_20_pls_l, c_20_pls_h ;18 右转,20度 (-)
00EE 0E 10 A0 00
00F2 01 78 B7 30 292 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_40_pls_l, c_40_pls_h ;19 右转,40度
00F6 0E 10 C3 00
00FA 01 78 B7 30 293 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_60_pls_l, c_60_pls_h ;20 右转,60度
00FE 0E 10 E6 00
0102 01 78 B7 30 294 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_80_pls_l, c_80_pls_h ;21 右转,80度
0106 0E 10 09 01
010A 01 78 B7 30 295 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_100_pls_l, c_100_pls_h ;22 右转,100度
010E 0E 10 2C 01
0112 01 78 B7 30 296 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_120_pls_l, c_120_pls_h ;23 右转,120度
0116 0E 10 4F 01
011A 01 78 B7 30 297 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_140_pls_l, c_140_pls_h ;24 右转,140度
011E 0E 10 72 01
0122 01 78 B7 30 298 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_160_pls_l, c_160_pls_h ;25 右转,160度
0126 0E 10 95 01
012A 01 78 B7 30 299 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_180_pls_l, c_180_pls_h ;26 右转,180度
012E 0E 10 B8 01
+ 300
0132 04 78 FF 78 301 db c_flg_stop, c_prtd3456_1, c_prtd_1, c_prtd3456_1, c_ctrl_stop_t1, c_ctrl_t2, c_pause_1_pls_l, c_pause_1_pls_h ;27 自动停止,时间3s (-)
0136 11 10 DC 05
013A 04 78 FF 78 302 db c_flg_stop, c_prtd3456_1, c_prtd_1, c_prtd3456_1, c_ctrl_stop_t1, c_ctrl_t2, c_pause_2_pls_l, c_pause_2_pls_h ;28 自动停止,时间5s
013E 11 10 C4 09
0142 04 78 FF 78 303 db c_flg_stop, c_prtd3456_1, c_prtd_1, c_prtd3456_1, c_ctrl_stop_t1, c_ctrl_t2, c_pause_3_pls_l, c_pause_3_pls_h ;29 按键触发停止,时间7s
0146 11 10 AC 0D
+ 304 ;db c_flg_stop, c_prtd3456_1, c_prtd_1, c_prtd3456_1, c_ctrl_stop_t1, c_ctrl_t2, c_stop_pls_l, c_stop_pls_h ;30 按键触发停止,时间10s
+ 305
+ 306 ;//04-03-17// add swerving parameter constant table when detect obstacles
014A 00 78 CF 48 307 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_20_pls_l_ir, c_20_pls_h_ir ;30 左转,20度(-)
014E 0E 10 0A 00
0152 00 78 CF 48 308 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_40_pls_l_ir, c_40_pls_h_ir ;31 左转,40度
0156 0E 10 14 00
015A 00 78 CF 48 309 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_60_pls_l_ir, c_60_pls_h_ir ;32 左转,60度
015E 0E 10 1E 00
0162 00 78 CF 48 310 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_80_pls_l_ir, c_80_pls_h_ir ;33 左转,80度
0166 0E 10 28 00
016A 00 78 CF 48 311 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_100_pls_l_ir, c_100_pls_h_ir ;34 左转,100度
016E 0E 10 32 00
0172 00 78 CF 48 312 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_120_pls_l_ir, c_120_pls_h_ir ;35 左转,120度
0176 0E 10 3C 00
017A 00 78 CF 48 313 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_140_pls_l_ir, c_140_pls_h_ir ;36 左转,140度
017E 0E 10 46 00
0182 00 78 CF 48 314 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_160_pls_l_ir, c_160_pls_h_ir ;37 左转,160度
0186 0E 10 50 00
018A 00 78 CF 48 315 db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_180_pls_l_ir, c_180_pls_h_ir ;38 左转,180度
018E 0E 10 5A 00
+ 316
0192 01 78 B7 30 317 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_20_pls_l_ir, c_20_pls_h_ir ;39 右转,20度(-)
0196 0E 10 0A 00
019A 01 78 B7 30 318 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_40_pls_l_ir, c_40_pls_h_ir ;40 右转,40度
019E 0E 10 14 00
01A2 01 78 B7 30 319 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_60_pls_l_ir, c_60_pls_h_ir ;41 右转,60度
01A6 0E 10 1E 00
01AA 01 78 B7 30 320 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_80_pls_l_ir, c_80_pls_h_ir ;42 右转,80度
01AE 0E 10 28 00
01B2 01 78 B7 30 321 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_100_pls_l_ir, c_100_pls_h_ir ;43 右转,100度
01B6 0E 10 32 00
01BA 01 78 B7 30 322 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_120_pls_l_ir, c_120_pls_h_ir ;44 右转,120度
01BE 0E 10 3C 00
01C2 01 78 B7 30 323 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_140_pls_l_ir, c_140_pls_h_ir ;45 右转,140度
01C6 0E 10 46 00
01CA 01 78 B7 30 324 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_160_pls_l_ir, c_160_pls_h_ir ;46 右转,160度
01CE 0E 10 50 00
01D2 01 78 B7 30 325 db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_180_pls_l_ir, c_180_pls_h_ir ;47 右转,180度
01D6 0E 10 5A 00
+ 326 ;end add //04-03-17//
+ 327 ;//backup
01DA 02 78 28 AF 328 db c_flg_backup, c_prtd3456_1, c_prtd35_1, c_prtd46_0, c_ctrl_slow_t1, c_ctrl_t2, c_slow_1_pls_l, c_slow_1_pls_h ;48 后退,慢速,短距离
01DE 0A 10 F4 00
+ 329 ;================================================================;
+ 330
+ 331
+
+Symbol Table
+
+ 2 Lookup 0000 GR
+ c_100_pls_h = 0001
+ c_100_pls_h_ir = 0000
+ c_100_pls_l = 002C
+ c_100_pls_l_ir = 0032
+ c_120_pls_h = 0001
+ c_120_pls_h_ir = 0000
+ c_120_pls_l = 004F
+ c_120_pls_l_ir = 003C
+ c_140_pls_h = 0001
+ c_140_pls_h_ir = 0000
+ c_140_pls_l = 0072
+ c_140_pls_l_ir = 0046
+ c_160_pls_h = 0001
+ c_160_pls_h_ir = 0000
+ c_160_pls_l = 0095
+ c_160_pls_l_ir = 0050
+ c_180_pls_h = 0001
+ c_180_pls_h_ir = 0000
+ c_180_pls_l = 00B8
+ c_180_pls_l_ir = 005A
+ c_20_pls_h = 0000
+ c_20_pls_h_ir = 0000
+ c_20_pls_l = 00A0
+ c_20_pls_l_ir = 000A
+ c_40_pls_h = 0000
+ c_40_pls_h_ir = 0000
+ c_40_pls_l = 00C3
+ c_40_pls_l_ir = 0014
+ c_60_pls_h = 0000
+ c_60_pls_h_ir = 0000
+ c_60_pls_l = 00E6
+ c_60_pls_l_ir = 001E
+ c_80_pls_h = 0001
+ c_80_pls_h_ir = 0000
+ c_80_pls_l = 0009
+ c_80_pls_l_ir = 0028
+ c_ctrl_fast_t1 = 0011
+ c_ctrl_med_t1 = 000D
+ c_ctrl_slow_t1 = 000A
+ c_ctrl_stop_t1 = 0011
+ c_ctrl_swerve_t1 = 000E
+ c_ctrl_swerve_t1_ir = 000E
+ c_ctrl_t2 = 0010
+ c_fast_1_pls_h = 0000
+ c_fast_1_pls_l = 00F4
+ c_fast_2_pls_h = 0002
+ c_fast_2_pls_l = 00E8
+ c_fast_3_pls_h = 0003
+ c_fast_3_pls_l = 00DC
+ c_flg_backup = 0002
+ c_flg_left = 0000
+ c_flg_line = 0003
+ c_flg_right = 0001
+ c_flg_stop = 0004
+ c_ier_dis_t1 = 001B
+ c_ier_en_t1 = 0004
+ c_med_1_pls_h = 0000
+ c_med_1_pls_l = 00F4
+ c_med_2_pls_h = 0002
+ c_med_2_pls_l = 00E8
+ c_med_3_pls_h = 0003
+ c_med_3_pls_l = 00DC
+ c_mtr_tab_col = 0008
+ c_pause_1_pls_h = 0005
+ c_pause_1_pls_l = 00DC
+ c_pause_2_pls_h = 0009
+ c_pause_2_pls_l = 00C4
+ c_pause_3_pls_h = 000D
+ c_pause_3_pls_l = 00AC
+ c_prtd3456_1 = 0078
+ c_prtd35_0 = 00D7
+ c_prtd35_1 = 0028
+ c_prtd36_0 = 00B7
+ c_prtd36_1 = 0048
+ c_prtd45_0 = 00CF
+ c_prtd45_1 = 0030
+ c_prtd46_0 = 00AF
+ c_prtd46_1 = 0050
+ c_prtd_1 = 00FF
+ c_slow_1_pls_h = 0000
+ c_slow_1_pls_l = 00F4
+ c_slow_2_pls_h = 0002
+ c_slow_2_pls_l = 00E8
+ c_slow_3_pls_h = 0003
+ c_slow_3_pls_l = 00DC
+ c_stop_pls_h = 0013
+ c_stop_pls_l = 0088
+ 2 end_run 0059 R
+ 1 flg_motor_status 0006 GR
+ 2 get_offset_mtr 000F R
+ 2 lookup_mtr_table 0023 R
+ 1 m_ctrl_pulse 000C GR
+ 1 m_ctrl_t1 000A GR
+ 1 m_ctrl_t2 000B GR
+ 1 m_offset 0002 GR
+ 1 m_offset_h 0003 GR
+ 1 m_offset_ini 0000 GR
+ 1 m_offset_ini_h 0001 GR
+ 1 m_prtd_ctrl_1_1 0007 GR
+ 1 m_prtd_ctrl_2_0 0008 GR
+ 1 m_prtd_ctrl_2_1 0009 GR
+ 2 motor_table 005A GR
+ rnd_num **** GX
+ 1 temp_table_h 0005 GR
+ 1 temp_table_l 0004 GR
+
+
+Area Table
+
+ 0 . size 0 flags 0
+ 1 run_var size E flags 2
+ 2 Lookup_code size 1E2 flags 1
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