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robot.asm
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; P0.0 = M1 FORWARD RELAY
; P0.1 = M1 REVERSE RELAY
; P0.2 = M2 FORWARD RELAY
; P0.3 = M2 REVERSE RELAY
; P0.4 = M3 FORWARD RELAY
; P0.5 = M3 REVERSE RELAY
; P0.6 = M4 FORWARD RELAY
; P0.7 = M4 REVERSE RELAY
;
; P0.0 = LCD D0
; P0.0 = LCD D1
; P0.0 = LCD D2
; P0.0 = LCD D3
; P0.0 = LCD D4
; P0.0 = LCD D5
; P0.0 = LCD D6
; P0.0 = LCD D7
;
; P2.0 = FAN
; P2.1 =
; P2.2 = LIMT SWITCH 1
; P2.3 = DATA RECEIVED
; P2.4 = RECEIVED DATA LSB
; P2.5 = RECEIVED DATA LSB + 1
; P2.6 = RECEIVED DATA LSB + 2
; P2.7 = RECEIVED DATA MSB
;
; P3.0 =
; P3.1 =
; P3.2 = LCD RS
; P3.3 = LCD R/W
; P3.4 = LCD E
; P3.5 =
; P3.6 =
; P3.7 =
; Program starts here
ORG 0000H ;START
MOV P0,#00H
MOV P2,#OFOH
SETB P2.3
MOV DPTR,#COMM1 ; COMMAND REGISTER
UPI : CLR A ; INITIALIZE BY COMM1 STRING
MOVC A,@A+DPTR
INC DPTR
CJNE A,#’$’,COMMAND1
HERE:
MOV A,#80H ; STARTING ADDRESS OF LINE 1
ACALL COMMAND
MOV DPTR,#DATA 1 ; DISPLAY THE DATA
LCALL LINE_DISPLAY_ROLL
HERE1:
MOV A,#0C0H ; STARTING ADDRESS OF LINE 2
ACALL COMMAND
MOV DPTR,#DATA2
LCALL LINE_DISPLAY
LCALL CHECK_INPUT
CJNE A,#00H,NEXT1
MOV P0,#05H
LCALL DELAY
LCALL DELAY
MOV A,#0C0H ;STARTING ADDRESS OF LINE 2
ACALL COMMAND
MOV DPTR,#DATA3
LCALL LINE_DISPLAY
LCALL CHECK_KEY_RELEASE
LJMP HERE1 ;LOOP HERE AFTER DISPLAY
COMMAND1: ACALL COMMAND
AJMP UP1
NEXT1:
CJNE A,#01H,NEXT2
MOV P0,#0AH
LCALL DELAY
LCALL DELAY
MOV A,##0C0H ;STARTING ADDRESS OF LINE 2
ACALL COMMAND
MOV DPTR,#DATA4
LCALL LINE_DISPLAY
LCALL CHECK_KEY_RELEASE
LJMP HERE1 ;LOOP HERE AFTER DISPLAY
NEXT2:
CJNE A,#02H,NEXT3
MOV P0,#09H
LCALL DELAY
LCALL DELAY
MOV A,#OCOH ;STARTING ADDRESS OF LINE 2
ACALL COMMAND
MOV DPTR,#DATA5
LCALL LINE_DISPLAY
LCALL CHECK_KEY_RELEASE
LJMP HERE1 ;LOOP HERE AFTER DISPLAY
NEXT3:
CJNE A,#03H,NEXT4
MOV P0,#06H
LCALL DELAY
LCALL DELAY
MOV A,#0C0H ;STARTING ADDRESS OF LINE 2
ACALL COMMAND
MOV DPTR,#DATA6
LCALL LINE_DISPLAY
LCALL CHECK_KEY_RELEASE
LJMP HERE1 ;LOOP HERE AFTER DISPLAY
NEXT4:
CJNE A,#04H,NEXT5
MOV P0,#10H
LCALL DELAY
LCALL DELAY
MOV A,#0C0H ;STARTING ADDRESS OF LINE 2
ACALL COMMAND
MOV DPTR,#DATA7
LCALL LINE_DISPLAY
LCALL CHECK_KEY_RELEASE
LJMP HERE1 ;LOOP HERE AFTER DISPLAY
NEXT5:
CJNE A,#05H,NEXT6
MOV P0,#20H
LCALL DELAY
LCALL DELAY
MOV A,#0C0H ;STARTING ADDRESS OF LINE 2
ACALL COMMAND
MOV DPTR,#DATA8
LCALL LINE_DISPLAY
LCALL CHECK_KEY_RELEASE
LJMP HERE1 ;LOOP HERE AFTER DISPLAY
NEXT6:
CJNE A,#06H,NEXT7
MOV P0,#40H
LCALL DELAY
LCALL DELAY
MOV A,#0C0H ;STARTING ADDRESS OF LINE 2
ACALL COMMAND
MOV DPTR,#DATA9
LCALL LINE_DISPLAY
LCALL CHECK_KEY_RELEASE
LJMP HERE1 ;LOOP HERE AFTER DISPLAY
NEXT7:
CJNE A,#07H,NEXT8
MOV P0,#80H
LCALL DELAY
LCALL DELAY
MOV A,#0C0H ;STARTING ADDRESS OF LINE 2
ACALL COMMAND
MOV DPTR,#DATA10
LCALL LINE_DISPLAY
LCALL CHECK_KEY_RELEASE
LJMP HERE1 ;LOOP HERE AFTER DISPLAY
NEXT8:
CJNE A,#08H,NEXT9
SETB P2.0 ;(CONDITIONAL.. IF ADDED EXTRA FEATURES)
LCALL DELAY
LCALL DELAY
MOV A,#0C0H ;STARTING ADDRESS OF LINE 2
ACALL COMMAND
MOV DPTR,#DATA11
LCALL LINE_DISPLAY
LCALL CHECK_KEY_RELEASE
LJMP HERE1 ;LOOP HERE AFTER DISPLAY
NEXT9:
CJNE A,#09H,NEXTA
CLR P2.0 ; (CONDITIONAL.. IF ADDED EXTRA FEATURES)
LCALL DELAY
LCALL DELAY
MOV A,#0C0H ;STARTING ADDRESS OF LINE 2
ACALL COMMAND
MOV DPTR,#DATA12
LCALL LINE_DISPLAY
LCALL CHECK_KEY_RELEASE
LJMP HERE1 ;LOOP HERE AFTER DISPLAY
NEXTA:
LJMP HERE1 ;LOOP HERE AFTER DISPLAY
LINE_DISPLAY:
CLR A
MOVC A,@A+DPTR
INC DPTR
CJNE A,#’$’,DISPLAY1
RET
DISPLAY1: ACALL DISPLAY
AJMP LINE_DISPLAY
LINE_DISPLAY_ROLL:
LCALL DELAY
CLR A
MOVC A,@A+DPTR
INC DPTR
CJNE A,#’$’,DISPLAY11
RET
DISPLAY11: ACALL DISPLAY
AJMP LINE_DISPLAY_ROLL
DELAY: MOV R7,#0FFH
LOOP1: MOV R6,#0FFH
LOOP: DJNZ R6,LOOP
DJNZ R7,LOOP1
RET
;************************************************************************************************
;LCD STROBE COMMAND
COMMAND: ACALL READY ;WRITE WHEN DISPLAY IS NOT BUSY
MOV P1,A ;COMMAND CHARACTER IN PORT P1
CLR P3.2 ;COMMAND REGISTER CHOSEN
CLR P3.3 ;WRITE ENABLE
SETB P3.4 ;STROBE CHARACTER TO DISPLAYED
CLR P3.4
RET ;RETURN
;************************************************************************************************
DISPLAY: ACALL READY
MOV P1,A ;TAKE DATA TO BE DISPLAYED
SETB P3.2 ;PS=P3.2=1 TO SELECT DATA REGISTER
CLR P3.3 ;WRITE ENABLE
SETB P3.4 ;STROBE CHARACTER TO DISPLAYED
CLR P3.4
RET ;RETURN
;************************************************************************************************
READY: CLR P3.4 ;STROBE DISPLAY
MOV P1,#0FFH ;CONFIGURE P1 FOR INPUT
CLR P3.2 ;SELECT COMMAND REGISTER
SETB P3.3 ;READ ENABLE
WAIT: CLR P3.4 ;STROBE DISPLAY
SETB P3.4
JB P1.7,WAIT ;READ BUSY STATUS (BF=0)
CLR P3.4 ;END DISPLAY STROBE.
RET ;RETURN
; ************************************************************************************************
COMM1: DB 3CH,0EH,06,01H,’$’
DATA1: DB ‘BEBIL’S- ROBOT, $’
DATA2: DB ‘INSTRUCTABLES , $’
DATA3: DB ‘FORWARD $’
DATA4: DB ‘BACKWARD $’
DATA5: DB ‘LEFT $’
DATA6: DB ‘RIGHT $’
DATA7: DB ‘CAMERA LEFT $’
DATA8: DB ‘CAMERA RIGHT $’
DATA9: DB ‘CAMERA UP $’
DATA10: DB ‘CAMERA DOWN$’
DATA11: DB ‘OPTIONAL $’
DATA12: DB ‘OPTIONAL $’
CHECK_INPUT:
MOV P2,#0F0H
SETB P2.3
JB P2.3,READ_INPUT
NOP
SJMP CHECK_INPUT
READ_INPUT:
MOV P0,#00H
LCALL DELAY
MOV A,P2
ANL A,#0F0H
SWAP A
RET
CHECK_KEY_RELEASE:
SETB P2.3
NOP
JB P2.3,CHECK_KEY_RELEASE
SETB P2.3
MOV P0,#00H
RET