stpm.c

Room Cleaning robot for cleaning houses

/***************************************************************/
/******** Program Description : Room Cleaning Robot Program ****/
/***************** Programmer : Amit Kumar Das *****************/
/*************** Program Date : 7th March 1009 *****************/
/*************** Program Time : 04:04 PM ***********************/
/************ Microcontroller : AT89S52 ************************/
/******** Operating Frequency : 12.0MHz ************************/
/***************************************************************/      


#include <reg51.h>
#include <math.h>
#include <string.h>

sbit SW=P1^0;
sbit inp=P1^1;

sbit bit1=P3^0;
sbit bit2=P3^1;
sbit bit3=P3^2;
sbit bit4=P3^3;

sbit outbit=P3^4;
sbit nextbit=P3^5;


void MSDelay(unsigned int value);
void main()
{
   P1=0xFF;
   P3=0x00;
   
      
while(1)
{

here:; 		                // 1-CW
							// 2-ACW
bit1=1;
bit2=0;
bit3=1;
bit4=0;

MSDelay(10);

outbit=1;
nextbit=0;

if(SW==1)
{
outbit=0;
nextbit=1;

bit1=0;
bit2=1;
bit3=0;
bit4=1;

MSDelay(50);

bit1=0;
bit2=1;
bit3=1;
bit4=0;

MSDelay(50);

bit1=1;
bit2=0;
bit3=1;
bit4=0;

MSDelay(50);

bit1=0;
bit2=1;
bit3=1;
bit4=0;

MSDelay(50);

goto here;
}
else if(inp==1)			  //2-CW
{

outbit=1;
nextbit=0;

bit1=0;
bit2=1;
bit3=0;
bit4=1;

MSDelay(50);

bit1=1;
bit2=0;
bit3=0;
bit4=1;

MSDelay(50);

bit1=1;
bit2=0;
bit3=1;
bit4=0;

MSDelay(50);

bit1=1;
bit2=0;
bit3=0;
bit4=1;

MSDelay(50);

bit1=1;
bit2=0;
bit3=1;
bit4=0;

MSDelay(50);
}
else goto here;
}

}


void MSDelay(unsigned int value)
{
unsigned int x,y;
for(x=0;x<1275;x++)
for(y=0;y<value;y++);
}