Small code to control robot please look and see if you can spot mistake. Reverse code work seperatly and so does steer but togather only steer will work.any sugestion please.
ASM51 Assembler (c) 1993 Ashling Microsystems Ltd. Version 4.1.2 04-04-00 PAGE 1

SourceFile = ROB6.ASM

LOC OBJ LINE SOURCE

1
0100 2 START CODE 0100H
3
0000 4 ORG RESET
0000 2100 5 JMP START
6
0003 7 ORG EXTI0
0003 213D 8 AJMP INTO_REVERSE
9
10
11
0100 12 ORG START
13
0100 75814F 14 MOV SP,#4FH
0103 759000 15 MOV P1,#00H
16
0106 D2AF 17 SETB EA ; GOBAL ENABLE
0108 D2A8 18 SETB EX0 ; ENABLE INT0
010A D2B8 19 SETB PX0 ; INTO HIGH PRIORTY
010C D288 20 SETB IT0 ; INT0 EDGE TRIGGERED
21
22
23
24
010E D292 25 SETB P1.2
0110 D293 26 SETB P1.3
0112 D294 27 SETB P1.4
28
29
30
0114 78FF 31 MOV R0,#0FFH ; DELAY
0116 79FF 32 GO: MOV R1,#0FFH
0118 D9FE 33 DJNZ R1,$
011A D8FA 34 DJNZ R0,GO
35
36
37 WAIT:
011C D290 38 SETB P1.0
011E D291 39 SETB P1.1
40
0120 780C 41 MOV R0,#0CH
42
0122 D8FE 43 DJNZ R0, $
0124 A296 44 MOV C,P1.6
0126 400F 45 JC STEER_R
46
47
48
0128 C290 49 CLR P1.0
012A C291 50 CLR P1.1
51
012C 780C 52 MOV R0,#0CH
012E D8FE 53 DJNZ R0, $
0130 A295 54 MOV C,P1.5
0132 4006 55 JC STEER_L
ASM51 Assembler (c) 1993 Ashling Microsystems Ltd. Version 4.1.2 04-04-00 PAGE 2

LOC OBJ LINE SOURCE

56
57
0134 02011C 58 LJMP WAIT
59
0137 12018E 60 STEER_R: LCALL TURN_RIGHT
013A 120173 61 STEER_L: LCALL TURN_LEFT
62
63
64
65 INTO_REVERSE:
013D 759000 66 MOV P1,#00H
0140 78FF 67 MOV R0,#0FFH
0142 D8FE 68 DJNZ R0,$
69
0144 7904 70 MOV R1, #04H
0146 78FF 71 TWICE: MOV R0,#0fFH
72
73
74 BACK:
0148 D290 75 SETB P1.0
014A D291 76 SETB P1.1
77
014C 7A0F 78 MOV R2,#0FH
014E DAFE 79 DJNZ R2, $
80
81
0150 C290 82 CLR P1.0
0152 C291 83 CLR P1.1
84
0154 7A0F 85 MOV R2,#0FH
0156 DAFE 86 DJNZ R2, $
87
0158 D8EE 88 DJNZ R0,BACK
015A D9EA 89 DJNZ R1,TWICE
90
91
015C 78FF 92 TURN_NINTY: MOV R0,#0FFH
015E 790A 93 T_R: MOV R1,#0AH
0160 D290 94 SETB P1.0
0162 D9FE 95 DJNZ R1, $
96
97
0164 790A 98 MOV R1,#0AH
0166 C290 99 CLR P1.0
0168 D9FE 100 DJNZ R1, $
016A D8F2 101 DJNZ R0, T_R
102
103
016C D292 104 SETB P1.2
016E D293 105 SETB P1.3
0170 D294 106 SETB P1.4
107
108
0172 32 109 RETI
110
111
112
ASM51 Assembler (c) 1993 Ashling Microsystems Ltd. Version 4.1.2 04-04-00 PAGE 3

LOC OBJ LINE SOURCE

113 TURN_LEFT:
0173 C290 114 CLR P1.0
0175 C291 115 CLR P1.1
116
117 STEER_LEFT:
0177 A295 118 MOV C,P1.5
0179 500A 119 JNC PAUSE
017B D290 120 SETB P1.0
017D 00 121 NOP
017E 00 122 NOP
017F 00 123 NOP
0180 00 124 NOP
0181 C290 125 CLR P1.0
0183 40F2 126 JC STEER_LEFT
127
128 PAUSE:
129
130
0185 D291 131 SETB P1.1
0187 781A 132 MOV R0,#01AH
0189 D8FE 133 DJNZ R0,$
018B C291 134 CLR P1.1
018D 22 135 RET
136
137
138 TURN_RIGHT:
018E C290 139 CLR P1.0
0190 C291 140 CLR P1.1
141
142
143
0192 A296 144 STEER_RIGHT: MOV C,P1.6
0194 500A 145 JNC BA
0196 D291 146 SETB P1.1
0198 00 147 NOP
0199 00 148 NOP
019A 00 149 NOP
019B 00 150 NOP
019C C291 151 CLR P1.1
019E 40F2 152 JC STEER_RIGHT
153
154 BA:
155
01A0 D291 156 SETB P1.1
01A2 781A 157 MOV R0,#01AH
01A4 D8FE 158 DJNZ R0,$
01A6 C291 159 CLR P1.1
01A8 00 160 NOP
161
01A9 22 162 RET
163 END
ASM51 Assembler (c) 1993 Ashling Microsystems Ltd. Version 4.1.2 04-04-00 PAGE 4


SYMBOL TABLE LISTING
------ ----- -------

N A M E T Y P E V A L U E A T T R I B U T E S

BA ..............................C ADDR 01A0H A
BACK ............................C ADDR 0148H A
EA ..............................B ADDR 00A8H.7 A
EX0 .............................B ADDR 00A8H.0 A
EXTI0 ...........................C ADDR 0003H A
GO ..............................C ADDR 0116H A
INTO_REVERSE ....................C ADDR 013DH A
IT0 .............................B ADDR 0088H.0 A
P1 ..............................D ADDR 0090H A
PAUSE ...........................C ADDR 0185H A
PX0 .............................B ADDR 00B8H.0 A
RESET ...........................C ADDR 0000H A
SP ..............................D ADDR 0081H A
START ...........................C ADDR 0100H A
STEER_L .........................C ADDR 013AH A
STEER_LEFT ......................C ADDR 0177H A
STEER_R .........................C ADDR 0137H A
STEER_RIGHT .....................C ADDR 0192H A
TURN_LEFT .......................C ADDR 0173H A
TURN_NINTY ......................C ADDR 015CH A
TURN_RIGHT ......................C ADDR 018EH A
TWICE ...........................C ADDR 0146H A
T_R .............................C ADDR 015EH A
WAIT ............................C ADDR 011CH A

Assembly of ROB6.ASM complete.
163 Lines assembled
Register bank(s) used: 0, Target machine(s): 8051/8031
No Errors detected