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L285:
; case 3: hand_cy[1]=hand_st_1[1];hand_whe[1]=0;break;
lds R2,_hand_st_1+2
lds R3,_hand_st_1+2+1
sts _hand_cy+2+1,R3
sts _hand_cy+2,R2
clr R2
clr R3
sts _hand_whe+2+1,R3
sts _hand_whe+2,R2
L270:
L271:
; }
; }
L263:
;
; if((~rx_chr[2][2][0])&rx_chr[2][2][1]&(~rx_chr[2][5][1]))
lds R2,_rx_chr+32+4+1
lds R3,_rx_chr+32+4
com R3
and R3,R2
lds R2,_rx_chr+32+10+1
com R2
and R3,R2
brne X35
xjmp L289
X35:
; {
; switch(hand_whe[2])
lds R2,_hand_whe+4
lds R3,_hand_whe+4+1
tst R2
brne X20
tst R3
breq L302
X20:
lds R24,_hand_whe+4
lds R25,_hand_whe+4+1
cpi R24,1
ldi R30,0
cpc R25,R30
breq L306
cpi R24,2
ldi R30,0
cpc R25,R30
breq L310
cpi R24,3
ldi R30,0
cpc R25,R30
breq L314
xjmp L299
X21:
; {
L302:
; case 0: hand_cy[2]=hand_st_2[2];hand_whe[2]=1;break;
lds R2,_hand_st_2+4
lds R3,_hand_st_2+4+1
sts _hand_cy+4+1,R3
sts _hand_cy+4,R2
ldi R24,1
ldi R25,0
sts _hand_whe+4+1,R25
sts _hand_whe+4,R24
xjmp L300
L306:
; case 1: hand_cy[2]=hand_st_3[2];hand_whe[2]=2;break;
lds R2,_hand_st_3+4
lds R3,_hand_st_3+4+1
sts _hand_cy+4+1,R3
sts _hand_cy+4,R2
ldi R24,2
ldi R25,0
sts _hand_whe+4+1,R25
sts _hand_whe+4,R24
xjmp L300
L310:
; case 2: hand_cy[2]=hand_st_2[2];hand_whe[2]=3;break;
lds R2,_hand_st_2+4
lds R3,_hand_st_2+4+1
sts _hand_cy+4+1,R3
sts _hand_cy+4,R2
ldi R24,3
ldi R25,0
sts _hand_whe+4+1,R25
sts _hand_whe+4,R24
xjmp L300
L314:
; case 3: hand_cy[2]=hand_st_1[2];hand_whe[2]=0;break;
lds R2,_hand_st_1+4
lds R3,_hand_st_1+4+1
sts _hand_cy+4+1,R3
sts _hand_cy+4,R2
clr R2
clr R3
sts _hand_whe+4+1,R3
sts _hand_whe+4,R2
L299:
L300:
; }
; }
L289:
;
; if((~rx_chr[2][0][0])&rx_chr[2][0][1]&(~rx_chr[2][5][1]))
lds R2,_rx_chr+32+1
lds R3,_rx_chr+32
com R3
and R3,R2
lds R2,_rx_chr+32+10+1
com R2
and R3,R2
brne X36
xjmp L318
X36:
; {
; switch(hand_whe[3])
lds R2,_hand_whe+6
lds R3,_hand_whe+6+1
tst R2
brne X22
tst R3
breq L329
X22:
lds R24,_hand_whe+6
lds R25,_hand_whe+6+1
cpi R24,1
ldi R30,0
cpc R25,R30
breq L333
cpi R24,2
ldi R30,0
cpc R25,R30
breq L337
cpi R24,3
ldi R30,0
cpc R25,R30
breq L341
xjmp L326
X23:
; {
L329:
; case 0: hand_cy[3]=hand_st_2[3];hand_whe[3]=1;break;
lds R2,_hand_st_2+6
lds R3,_hand_st_2+6+1
sts _hand_cy+6+1,R3
sts _hand_cy+6,R2
ldi R24,1
ldi R25,0
sts _hand_whe+6+1,R25
sts _hand_whe+6,R24
xjmp L327
L333:
; case 1: hand_cy[3]=hand_st_3[3];hand_whe[3]=2;break;
lds R2,_hand_st_3+6
lds R3,_hand_st_3+6+1
sts _hand_cy+6+1,R3
sts _hand_cy+6,R2
ldi R24,2
ldi R25,0
sts _hand_whe+6+1,R25
sts _hand_whe+6,R24
xjmp L327
L337:
; case 2: hand_cy[3]=hand_st_2[3];hand_whe[3]=3;break;
lds R2,_hand_st_2+6
lds R3,_hand_st_2+6+1
sts _hand_cy+6+1,R3
sts _hand_cy+6,R2
ldi R24,3
ldi R25,0
sts _hand_whe+6+1,R25
sts _hand_whe+6,R24
xjmp L327
L341:
; case 3: hand_cy[3]=hand_st_1[3];hand_whe[3]=0;break;
lds R2,_hand_st_1+6
lds R3,_hand_st_1+6+1
sts _hand_cy+6+1,R3
sts _hand_cy+6,R2
clr R2
clr R3
sts _hand_whe+6+1,R3
sts _hand_whe+6,R2
L326:
L327:
; }
; }
L318:
; if((~rx_chr[2][3][0])&rx_chr[2][3][1]&rx_chr[2][5][1]) //复合键 手爪全部闭合
lds R2,_rx_chr+32+6+1
lds R3,_rx_chr+32+6
com R3
and R3,R2
lds R2,_rx_chr+32+10+1
and R3,R2
breq L345
; {
; hand_cy[0]=hand_st_3[0];hand_whe[0]=2;
lds R2,_hand_st_3
lds R3,_hand_st_3+1
sts _hand_cy+1,R3
sts _hand_cy,R2
ldi R24,2
ldi R25,0
sts _hand_whe+1,R25
sts _hand_whe,R24
; hand_cy[1]=hand_st_3[1];hand_whe[1]=2;
lds R2,_hand_st_3+2
lds R3,_hand_st_3+2+1
sts _hand_cy+2+1,R3
sts _hand_cy+2,R2
sts _hand_whe+2+1,R25
sts _hand_whe+2,R24
; hand_cy[2]=hand_st_3[2];hand_whe[2]=2;
lds R2,_hand_st_3+4
lds R3,_hand_st_3+4+1
sts _hand_cy+4+1,R3
sts _hand_cy+4,R2
sts _hand_whe+4+1,R25
sts _hand_whe+4,R24
; hand_cy[3]=hand_st_3[3];hand_whe[3]=2;
lds R2,_hand_st_3+6
lds R3,_hand_st_3+6+1
sts _hand_cy+6+1,R3
sts _hand_cy+6,R2
sts _hand_whe+6+1,R25
sts _hand_whe+6,R24
; }
L345:
; //给自动机器人发送信号-------------
; if(rx_chr[1][3][1])PORTC|=0x30;
lds R2,_rx_chr+16+6+1
tst R2
breq L364
in R24,0x15
ori R24,48
out 0x15,R24
xjmp L365
L364:
; else PORTC&=0xcf;
in R24,0x15
andi R24,207
out 0x15,R24
L365:
; }
L38:
adiw R28,3
xcall pop_gset2
.dbline 0 ; func end
ret
.even
_reset_action:
xcall push_gset1
sbiw R28,3
;
; /*
; *********************************************************************************************************
; * 复位
; *********************************************************************************************************
; */
;
; static void reset_action(void)
; {
; robot_model_key++;
lds R24,_robot_model_key
subi R24,255 ; addi 1
sts _robot_model_key,R24
;
; //数码管显示---------------------------
; LED_send_16b(0x0100|(robot_model_key/3));
ldi R18,3
ldi R19,0
mov R16,R24
clr R17
xcall div16s
ori R17,1
xcall _LED_send_16b
; LED_send_16b(0x0200|(robot_model_key/3));
ldi R18,3
ldi R19,0
lds R16,_robot_model_key
clr R17
xcall div16s
ori R17,2
xcall _LED_send_16b
; LED_send_16b(0x0300|(robot_model_key/3));
ldi R18,3
ldi R19,0
lds R16,_robot_model_key
clr R17
xcall div16s
ori R17,3
xcall _LED_send_16b
; LED_send_16b(0x0400|(robot_model_key/3));
ldi R18,3
ldi R19,0
lds R16,_robot_model_key
clr R17
xcall div16s
ori R17,4
xcall _LED_send_16b
; LED_send_16b(0x0500|(robot_model_key/3));
ldi R18,3
ldi R19,0
lds R16,_robot_model_key
clr R17
xcall div16s
ori R17,5
xcall _LED_send_16b
; LED_send_16b(0x0600|(robot_model_key/3));
ldi R18,3
ldi R19,0
lds R16,_robot_model_key
clr R17
xcall div16s
ori R17,6
xcall _LED_send_16b
; LED_send_16b(0x0700|(robot_model_key/3));
ldi R18,3
ldi R19,0
lds R16,_robot_model_key
clr R17
xcall div16s
ori R17,7
xcall _LED_send_16b
; LED_send_16b(0x0800|(robot_model_key/3));
ldi R18,3
ldi R19,0
lds R16,_robot_model_key
clr R17
xcall div16s
ori R17,8
xcall _LED_send_16b
; //行进电机--------------
; switch(robot_model_key)
lds R20,_robot_model_key
clr R21
cpi R20,7
ldi R30,0
cpc R21,R30
breq L374
ldi R24,7
ldi R25,0
cp R24,R20
cpc R25,R21
brlt L377
L376:
cpi R20,2
ldi R30,0
cpc R21,R30
breq L373
xjmp L370
L377:
cpi R20,12
ldi R30,0
cpc R21,R30
breq L375
xjmp L370
X37:
; {
L373:
; case 2: motor_l_msg=0;motor_r_msg=0;break;
clr R2
clr R3
sts _motor_l_msg+1,R3
sts _motor_l_msg,R2
sts _motor_r_msg+1,R3
sts _motor_r_msg,R2
xjmp L371
L374:
; case 7: motor_l_msg=1;motor_r_msg=1;break;
ldi R24,1
ldi R25,0
sts _motor_l_msg+1,R25
sts _motor_l_msg,R24
sts _motor_r_msg+1,R25
sts _motor_r_msg,R24
xjmp L371
L375:
; case 12:motor_l_msg=10;motor_r_msg=10;break;
ldi R24,10
ldi R25,0
sts _motor_l_msg+1,R25
sts _motor_l_msg,R24
sts _motor_r_msg+1,R25
sts _motor_r_msg,R24
L370:
L371:
; }
; OSMboxPost(motor_l_Box,&motor_l_msg); //发送左电机驱动邮件
ldi R18,<_motor_l_msg
ldi R19,>_motor_l_msg
lds R16,_motor_l_Box
lds R17,_motor_l_Box+1
xcall _OSMboxPost
; OSMboxPost(motor_r_Box,&motor_r_msg); //发送右电机驱动邮件
ldi R18,<_motor_r_msg
ldi R19,>_motor_r_msg
lds R16,_motor_r_Box
lds R17,_motor_r_Box+1
xcall _OSMboxPost
; //手爪----------------------------
; switch(robot_model_key)
lds R20,_robot_model_key
clr R21
cpi R20,12
ldi R30,0
cpc R21,R30
breq L388
ldi R24,12
ldi R25,0
cp R24,R20
cpc R25,R21
brlt L406
L405:
cpi R20,2
ldi R30,0
cpc R21,R30
breq L381
xjmp L378
L406:
cpi R20,22
ldi R30,0
cpc R21,R30
brne X49
xjmp L395
X49:
xjmp L378
X38:
; {
L381:
; case 2:hand_cy[0]=hand_st_3[0];hand_cy[1]=hand_st_3[1];hand_cy[2]=hand_st_3[2];hand_cy[3]=hand_st_3[3];break;
lds R2,_hand_st_3
lds R3,_hand_st_3+1
sts _hand_cy+1,R3
sts _hand_cy,R2
lds R2,_hand_st_3+2
lds R3,_hand_st_3+2+1
sts _hand_cy+2+1,R3
sts _hand_cy+2,R2
lds R2,_hand_st_3+4
lds R3,_hand_st_3+4+1
sts _hand_cy+4+1,R3
sts _hand_cy+4,R2
lds R2,_hand_st_3+6
lds R3,_hand_st_3+6+1
sts _hand_cy+6+1,R3
sts _hand_cy+6,R2
xjmp L379
L388:
; case 12:hand_cy[0]=hand_st_2[0];hand_cy[1]=hand_st_2[1];hand_cy[2]=hand_st_2[2];hand_cy[3]=hand_st_2[3];break;
lds R2,_hand_st_2
lds R3,_hand_st_2+1
sts _hand_cy+1,R3
sts _hand_cy,R2
lds R2,_hand_st_2+2
lds R3,_hand_st_2+2+1
sts _hand_cy+2+1,R3
sts _hand_cy+2,R2
lds R2,_hand_st_2+4
lds R3,_hand_st_2+4+1
sts _hand_cy+4+1,R3
sts _hand_cy+4,R2
lds R2,_hand_st_2+6
lds R3,_hand_st_2+6+1
sts _hand_cy+6+1,R3
sts _hand_cy+6,R2
xjmp L379
L395:
; case 22:hand_cy[0]=hand_st_1[0];hand_cy[1]=hand_st_1[1];hand_cy[2]=hand_st_1[2];hand_cy[3]=hand_st_1[3];hand_whe[0]=0;hand_whe[1]=0;hand_whe[2]=0;hand_whe[3]=0;break;
lds R2,_hand_st_1
lds R3,_hand_st_1+1
sts _hand_cy+1,R3
sts _hand_cy,R2
lds R2,_hand_st_1+2
lds R3,_hand_st_1+2+1
sts _hand_cy+2+1,R3
sts _hand_cy+2,R2
lds R2,_hand_st_1+4
lds R3,_hand_st_1+4+1
sts _hand_cy+4+1,R3
sts _hand_cy+4,R2
lds R2,_hand_st_1+6
lds R3,_hand_st_1+6+1
sts _hand_cy+6+1,R3
sts _hand_cy+6,R2
clr R2
clr R3
sts _hand_whe+1,R3
sts _hand_whe,R2
sts _hand_whe+2+1,R3
sts _hand_whe+2,R2
sts _hand_whe+4+1,R3
sts _hand_whe+4,R2
sts _hand_whe+6+1,R3
sts _hand_whe+6,R2
L378:
L379:
; }
; //提升-----------------------
;
; switch(robot_model_tmp)
lds R20,_robot_model_tmp
clr R21
cpi R20,0
cpc R20,R21
breq L410
X39:
cpi R20,1
ldi R30,0
cpc R21,R30
brne X50
xjmp L414
X50:
cpi R20,2
ldi R30,0
cpc R21,R30
brne X51
xjmp L422
X51:
cpi R20,3
ldi R30,0
cpc R21,R30
brne X52
xjmp L425
X52:
cpi R20,4
ldi R30,0
cpc R21,R30
brne X53
xjmp L433
X53:
cpi R20,5
ldi R30,0
cpc R21,R30
brne X54
xjmp L436
X54:
cpi R20,6
ldi R30,0
cpc R21,R30
brne X55
xjmp L441
X55:
cpi R20,7
ldi R30,0
cpc R21,R30
brne X56
xjmp L449
X56:
xjmp L407
X40:
; {
L410:
; case 0: motor_t_msg=12; if(!contact_t[0][1]) {robot_model_tmp=1;motor_t_msg=11;}break;
ldi R24,12
ldi R25,0
sts _motor_t_msg+1,R25
sts _motor_t_msg,R24
lds R2,_contact_t+2
lds R3,_contact_t+2+1
tst R2
breq X57
xjmp L408
X57:
tst R3
breq X58
xjmp L408
X58:
X41:
ldi R24,1
sts _robot_model_tmp,R24
ldi R24,11
ldi R25,0
sts _motor_t_msg+1,R25
sts _motor_t_msg,R24
xjmp L408
L414:
; case 1: motor_t_msg=11; if((!contact_t[3][1])&contact_t[3][0]) {robot_model_tmp=2;motor_t_msg=10; }break;
ldi R24,11
ldi R25,0
sts _motor_t_msg+1,R25
sts _motor_t_msg,R24
lds R2,_contact_t+12+2
lds R3,_contact_t+12+2+1
tst R2
brne L420
tst R3
brne L420
X42:
ldi R20,1
ldi R21,0
xjmp L421
L420:
clr R20
clr R21
L421:
lds R2,_contact_t+12
lds R3,_contact_t+12+1
movw R4,R20
and R4,R2
and R5,R3
tst R4
brne X43
tst R5
brne X59
xjmp L408
X59:
X43:
ldi R24,2
sts _robot_model_tmp,R24
ldi R24,10
ldi R25,0
sts _motor_t_msg+1,R25
sts _motor_t_msg,R24
xjmp L408
L422:
; case 2: motor_t_msg=10; robot_model_dly++; if(robot_model_dly==5) robot_model_tmp=3;break;
ldi R24,10
ldi R25,0
sts _motor_t_msg+1,R25
sts _motor_t_msg,R24
lds R24,_robot_model_dly
lds R25,_rob⌨️ 快捷键说明
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