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    AGV

    Uploaded by

    Rajesh Kumar

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as TXT, PDF, TXT or read online from Scribd

    AGV

    Uploaded by

    Rajesh Kumar
    32 views3 pages

    Copyright

    © Attribution Non-Commercial (BY-NC)

    Available Formats

    TXT, PDF, TXT or read online from Scribd

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    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as TXT, PDF, TXT or read online from Scribd
    Download as txt, pdf, or txt
    32 views3 pages

    AGV

    Uploaded by

    Rajesh Kumar

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as TXT, PDF, TXT or read online from Scribd
    Download as txt, pdf, or txt
    You are on page 1of 3

    ORG 00H

    INIT:
    MOV R4,#99H
    MOV R5,#99H
    BEGIN:
    FRONTSENSOR_POSITION:
    MOV C,P1.0
    JNC LOOP3
    SJMP LEFTSENSOR_POSITION
    LOOP3:
    ACALL TURN_RIGHT
    SETB P1.0
    LEFTSENSOR_POSITION:
    MOV C,P1.1
    JNC LOOP2
    SJMP RIGHTSENSOR_POSITION
    LOOP2:
    ACALL TURN_LEFT
    SETB P1.1
    RIGHTSENSOR_POSITION:
    MOV C,P1.2
    JNC LOOP1
    SJMP BEGIIN
    LOOP1:
    ACALL TURN_RIGHT
    SETB P1.2

    BEGIIN:
    ACALL NEXT_SENSING_POINT
    SJMP FRONTSENSOR_POSITION
    DELAY:
    MOV B,#02FH
    DELAYLOOP:
    ACALL DELAY1
    DJNZ B,DELAYLOOP
    RET
    BIGDELAY:
    MOV B,#0FFH
    BDELAYLOOP:
    ACALL DELAY1
    DJNZ B,BDELAYLOOP
    RET
    DELAY1:
    MOV ACC,#0FFH
    DELAYLOOP1:
    DJNZ ACC,DELAYLOOP1
    RET

    ; FUNCTIONS TO MOVE MOTORS


    NEXT_SENSING_POINT: ; MOVES ROBOT FROM ONE SENSING POINT TO NEXT ONE
    ;TOTALY 28X4=112 STEPS ARE NEEDED TO MOVE 44CMS ON THE ARENA
    MOV R0,#25
    LOOP00: ACALL ROBOT_FARWORD
    DJNZ R0,LOOP00
    RET
    BACKWARD: ;IT WILL MOVE THE ROBOT BACKWARD
    MOV R0,#30
    LOOOP: ACALL ROBOT_BACKWORD
    DJNZ R0,LOOOP
    RET

    TURN_LEFT: ; MOVES ROBOT LEFT EXACTLY 90`


    ; IT NEEDS 11X2=33 STEPS TO EXACTLY ROTATE ROBOT 90`
    MOV R0,#44
    LOOP11: ACALL ROBOT_LEFT
    DJNZ R0,LOOP11
    RET
    TURN_RIGHT: ; MOVES ROBOT LEFT EXACTLY 90`
    ; IT NEEDS 11X3=33 STEPS TO EXACTLY ROTATE ROBOT 90`
    MOV R0,#44
    LOOP22: ACALL ROBOT_RIGHT
    DJNZ R0,LOOP22
    RET
    ROBOT_FARWORD ; MOVES ROBOT FORWARD ONE STEP BOTH MOTORS FORWARD
    ; HERE MOVE LEFT MOTOR ANTICLOCKWISE AND RIGHT MOTOR CLOCKWISE
    MOV A,R4
    RR A
    MOV R4,A
    MOV B,A
    MOV A,R5
    RL A
    MOV R5,A
    ANL B,#0FH
    ANL A,#0F0H
    ORL B,A
    MOV P0,B
    ACALL DELAY

    RET
    ; END OF ROBOT_FORWARD
    ROBOT_BACKWORD ; MOVES ROBOT FORWARD ONE STEP BOTH MOTORS FORWARD
    ; HERE MOVE LEFT MOTOR CLOCKWISE AND RIGHT MOTOR ANTICLOCKWISE
    MOV A,R4
    RR A
    MOV R4,A
    MOV B,A
    MOV A,R5
    RL A
    MOV R5,A
    ANL B,#0FH
    ANL A,#0F0H
    ORL B,A
    MOV P0,B
    ACALL DELAY
    ACALL DELAY
    RET
    ; END OF ROBOT_BACKWORD
    ROBOT_RIGHT ; MOVES ROBOT FORWARD ONE STEP BOTH MOTORS FORWARD
    ; HERE MOVE LEFT MOTOR ANTICLOCKWISE AND RIGHT MOTOR ANTICLOCKWISE
    MOV A,R4
    RR A
    MOV R4,A
    MOV B,A
    MOV A,R5
    RR A
    MOV R5,A
    ANL B,#0FH
    ANL A,#0F0H
    ORL B,A
    MOV P0,B
    ACALL DELAY
    ACALL DELAY
    RET
    ; END OF ROBOT_RIGHT
    ROBOT_LEFT ; MOVES ROBOT FORWARD ONE STEP BOTH MOTORS FORWARD
    ; HERE MOVE LEFT MOTOR CLOCKWISE AND RIGHT MOTOR CLOCKWISE
    MOV A,R4
    RL A
    MOV R4,A
    MOV B,A
    MOV A,R5
    RL A
    MOV R5,A
    ANL B,#0FH
    ANL A,#0F0H
    ORL B,A
    MOV P0,B
    ACALL DELAY
    ACALL DELAY
    RET
    ; END OF ROBOT_LEFT

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