Nuestro 2do Proyecto (Motor p_p)

16 de noviembre de 2006 - 17:10

   list p = 16f84
  radix hex
estado equ 03
portA   equ 05
portB   equ 06
tmr0_op equ 01
reg0   equ 0c
reg1   equ 0d
reg2   equ 0e
reg3   equ 0f

  org 00
  bsf estado,5
  movlw 10
   movwf portA
   movlw 0ff
  movwf portB
  movlw 07
   movwf tmr0_op
  bcf estado,5

inicio:  movlw 01
  movwf portA
jul1:   movf portB,0
  movwf reg0
  andlw 03
  movwf reg1
  incf reg1,1
  movf reg0,0
  andlw 0f0
  movwf reg2
  swapf reg2,1
  incf reg2,1
  btfss portA,4
  goto jul1
  btfss reg0,4
  goto jul2           ;es no del RB3
  btfss reg0,3
  goto jul3         ;es no del RB2 paso
ken1   call left
  decfsz reg2,0
  goto jul1
  goto ken1
jul3:   call right
  decfsz reg2,0
  goto jul3
  goto jul1
jul2:   btfss reg0,3
  goto jul4            ;no de RB2 giro
ken3:   call left
  btfss portA,5
  goto jul1
  goto ken3
jul4:   call right
   btfss portA,5
  goto jul1
  goto jul4

right: movf reg1,0
  sublw 01
  btfsc estado,2
  call rotar1
  sublw 02
   btfsc estado,2
  call rotar2
  sublw 03
  btfsc estado,2
  call rotar3
  sublw 04
  btfsc estado,2
  call rotar4
  return

left:   movf reg1,0
  sublw 01
  btfsc estado,2
  call rotar01
  sublw 02
   btfsc estado,2
  call rotar02
  sublw 03
  btfsc estado,2
  call rotar03
  sublw 04
  btfsc estado,2
  call rotar04
  return

rotar1:  movlw 08
  movwf portA
  rrf portA,1
  call delay1
  btfss portA,4
  goto jul1
  goto rotar1
  return

rotar2: movlw 08
  movwf portA
  rrf portA,1
  call delay2
  btfss portA,4
  goto jul1
  goto rotar2
  return

rotar3:  movlw 08
  movwf portA
  rrf portA,1
  call delay3
  btfss portA,4
  goto jul1
  goto rotar3
  return

rotar4:  movlw 08
  movwf portA
  rrf portA,1
  call delay4
  btfss portA,5
  goto jul1
  goto rotar4
  return

rotar01  movlw 08
  movwf portA
  rrf portA,1
  call delay1
  btfss portA,5
  goto jul1
  goto rotar01
  return

rotar02  movlw 08
  movwf portA
  rrf portA,1
  call delay2
  btfss portA,5
  goto jul1
  goto rotar02
  return
rotar03  movlw 08
  movwf portA
  rrf portA,1
  call delay3
  btfss portA,5
  goto jul1
  goto rotar03
  return
rotar04  movlw 08
  movwf portA
  rrf portA,1
  call delay4
  btfss portA,5
  goto jul1
  goto rotar04
  return

delay1:  movlw 08
  movlw d'8'
     movwf reg3
jon:     btfss 0b,2
      goto jon
      bcf 0b,2
      decfsz reg3,1
      goto jon
      return

delay2:  movlw d'60'
     movwf tmr0_op
jon1:   btfss 0b,2
         goto jon1
         bcf 0b,2
         return

delay3:  movlw d'251'
       movwf tmr0_op
jon2:   btfss 0b,2
         goto jon2
        bcf 0b,2
        return

delay4:  movlw d'253'
       movwf tmr0_op
jon3:   btfss 0b,2
         goto jon3
        bcf 0b,2
         return
     end

Nuestro 2do Proyecto (Motor p_p)

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