; mini_v02.asm ; June 06, 2006, PTB. (06/06/06 eh?) ; Update: 06/15/2006 PTB ; ; PIC16F84A-20 with a 16.0MHz crystal. ; Actually an 16F84A/04 part runs with a 16.0MHz xtal, weird... ; ; For: Mini-Sumo 'Bot with really-really wide tires. (hp printer rollers) ; Now with 48:1 gear-ratio - Motor = 15_teeth, ; instead of 80:1 gear-ratio - Motor = 20_teeth. ; May have to shorten "turn _counts" values. ; ; Yes, I know "right" is spelled "rite". ; LIST p=16F84A include "p16f84ab.inc" include "ints_f84.inc" include "pins_f84.inc" __config _cp_off & _wdt_off & _pwrte_on & _hs_osc __idlocs 0x016B errorlevel -302, -206 ; ; RAM RAM RAM RAM RAM RAM RAM RAM RAM ; CBLOCK 0x0C ; to 0x4F inclusive _status, _wtemp _sec5, _loops, _counts, _dir, _h2h _eeadr, _eedata ENDC ; ;@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ ; @@@@ ; @ .@ ; @ . @ ; @ . @ ; @. @ ; @@@@ ;@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ ; org 0 b Cold b Cold b Cold b Cold ; ;44444444444444444444444444444444 ; 4 ; 4 4 ; 4 4 ; 444444 ; 4 ; 4 ;44444444444444444444444444444444 ; org 4 btfsc _rbif ; did an edge occur? b doedges btfsc _intf ; push_me = sumo? ; b H2Head b dosumo retfie ; false hit, ignore it ; doedges bcf _rbif ; clear reason btfss rt_edge ; looking for any edge active =0 b dorite btfss lt_edge ; 0= edge b doleft btfss r_front ; 0= sumo b riteturn btfss l_front ; 0= sumo b leftturn retfie ; leftturn movlw rotccw ; turn left, top view movwf motors movlw .20 ; change the length of run-time movwf _counts ; ../ retfie ; riteturn movlw rotcw ; turn right, top view movwf motors movlw .20 ; change the length of run-time movwf _counts ; ../ retfie ; doleft movlw m1ccw ; rotate cw w/ rite motor movwf motors movlw .140 ; change the length of run-time movwf _counts ; ../ retfie ; dorite movlw m2ccw ; rotate ccw w/ left motor movwf motors movlw .140 ; change the length of run-time movwf _counts ; ../ retfie ; dosumo bcf _intf ; clear reason movlw allcw ; go forward movwf motors movlw .100 ; change the length of run-time movwf _counts ; ../ retfie ; ; ############################### ; ; Head 2 Head silliness: ; ; Change the head-to-head motion ; if stuck pushing with nothing else going on... ; H2Head incfsz _h2h,1 ; update head2head monotony b h3head ; not zero yet movlw .25 movwf _counts ; ../ movlw m2ccw ; turn a bit... movwf motors b RT3 ; 'til done... h3head movlw allcw ; else - go forward movwf motors movlw .50 ; change the length of run-time movwf _counts ; ../ b RT3 ; 'til done... ; ;-------------------------------- ; Cold clrf intcon ; no interrupts used at all clrf tmr0 ; start timer after 2 cycles clrf _h2h ; can't be - unless really fast! movlw a_pins ; motors off movwf porta movlw b_pins movwf portb bsf bank1 ; yup, continue movlw _opt64 ; setup prescaler amount movwf option_reg movlw a_tris ; setup external pin directions movwf trisa movlw b_tris movwf trisb bcf bank0 movfw portb ; read/flush portb nop nop ; ; ############################### ; ; Hold push_me in while powering up, ; Then release to start 5 seconds timer. ; Else it skips over this stuff... ; This works at 16.0MHz ; wait5secs btfsc push_me ; is wait-5-seconds enabled? b human ; no, skip for now call pauze ; yes, debounce timer ; ; skip over this if push_me not activated... ; hu1 btfss push_me ; hang until released... b hu1 ; ; ; part of the 5 seconds timer, DON'T TOUCH! ; movlw .40 ; outer loop, was .70 for 14.3mhz movwf _sec5 ; 06/08/2006 PTB, close... hu2 call pauze ; this long decf _sec5,1 btfss z_flag ; quit when zero=1 b hu2 b human ; done with setup ;------- pauz4 movlw .100 ; better in backing up with slow motors... b pauz2 ; ; part of the 5 seconds timer, DON'T TOUCH! ; pauze movlw morelps pauz2 movwf _loops bcf _t0if pz3 movlw .0 movwf tmr0 pz2 btfss _t0if b pz2 bcf _t0if decf _loops,1 btfss z_flag b pz3 return ; ; ############################### ; ; These two routines ; can be eliminated later... ; human movlw m1cw ; rite motor moves forward movwf motors call pauz4 movlw m2cw ; left motor moves forward movwf motors call pauz4 ; ; ############################### ; ; Now enable interrupts ; For _rbif & _intf - only... ; IntsOn movlw _inton ; gie, inte, rbie, no t0ie! movwf intcon ; go! ; ; ############################### ; ; Run Time: ; ; How this works... ; Run forward for .100 times. ; Expect interrupts to change direction. ; Run for that time then change back to going forward. ; when _counts runs out ; then direction changes from interrupt time. ; So, if rite-edge goes active, ; _rbif goes active and interrupt ; changes the motor directions and _counts amount. ; This moves the sumo in a different direction ; Until another interrupt or _counts runs out. ; _counts and motor direction gets reset. ; GoNow movlw .100 ; good guess... movwf _counts ; update direction counter movlw allcw ; now go forward movwf motors ; turn motors on LoopM bcf _t0if movlw .0 ; use current motor settings movwf tmr0 ; ; DO NOT POLL PIN CHANGE(B) ; IF USING PIN CHANGE(B) INTERRUPTS! ; RT2 btfss bk_edge ; if (portA.4) rear sensor is calling b GoFwd ; then go here btfss _t0if ; if TMR0 not ready b RT2 ; then continue ; ; ############################### ; ; Now check for going forward again... ; RT3 decf _counts,1 btfsc z_flag b GoNow ; yes reset direction b LoopM ; no change in direction ; ; ############################### ; ; Found one edge active ; but not INTERRUPTED ; so still at/over border... ; GoFwd movlw .100 ; change the length of run-time movwf _counts ; ../ movlw allcw ; go forward movwf motors b RT3 ; 'til done... ;RSpin movlw .190 ; change the length of run-time ; movwf _counts ; ../ ; movlw m2ccw ; turn a bit... ; movwf motors ; b RT3 ; 'til done... ; ;LSpin movlw .190 ; change the length of run-time ; movwf _counts ; ../ ; movlw m1ccw ; turn a bit... ; movwf motors ; b RT3 ; 'til done... ; ;SpinR movlw .20 ; change the length of run-time ; movwf _counts ; ../ ; movlw rotcw ; rotate a bit... ; movwf motors ; b RT3 ; 'til done... ; ;SpinL movlw .20 ; change the length of run-time ; movwf _counts ; ../ ; movlw rotccw ; rotate a bit... ; movwf motors ; b RT3 ; 'til done... ; ; ############################### ; ;EErbyte ; movfw _eeadr ; get preset address ; movwf eeadr ; write to eeprom address register ; bsf bank1 ; bank 1 ; bsf _rd ; enable read byte ; bcf bank0 ; bank 0 ; movfw eedata ; read data from eedata register ; return ; ;-------------------------------- ; ;EEwbyte ; movfw _eeadr ; get pre-set address ; movwf eeadr ; write to eeprom address register ; movfw _eedata ; get pre-set data byte ; movwf eedata ; write data to ee data register ;------- ;EEwrite ; bsf bank1 ; bank 1 ; bsf _wren ; enable write byte ; movlw 0x55 ; do this sequence for every byte ; movwf eecon2 ;____/ ; movlw 0xaa ;___/ ; movwf eecon2 ;__/ ; bsf _wr ;_/ ; return ; ;-------------------------------- ; ; CODEPAGE NAME=eedata START=0x2100 END=0x213F ; 64 bytes of onboard EEPROM ; ; org 0x2100 ; ; de .25 ; ;-------------------------------- ; END