* Filename : MAIN.ASM * Programmer : Michael Hattermann * Date : February 22, 2002 * Version : 1.0 * Description : This file contains the main routine to * control the rest of the robot. It * includes all the other control files. * The followong functions are available: * * MAIN - start of program, inits/uses systems * MAINOUT - end of program, kills systems * #include "hc12.asm" * ************************************************************ * Main Equates ************************************************************ * PROGSTART EQU $B000 ; start of the program STACKPTR EQU $0A00 ; bottom of internal RAM for stack GLBLVARS EQU $0900 ; top of internal RAM for global variables OAPROCRATE EQU 10 ; how often to execute object avoidance (in ms) FPROCRATE EQU 10 ; how often to execute following (in ms) * ************************************************************ * Global Variables ************************************************************ * ORG GLBLVARS UPPERTIMER DC.W $0000 ; 16-bit extension of TCNT LEFTSPDTIME DC.W $0000 ; Time left break beam was broken RIGHTSPDTIME DC.W $0000 ; Time right break beam was broken SPDTIMEFLG DC.B $00 ; Flags to indicate which beams were broken SPDCAUGHT DC.B $00 ; Flags to indicate speeder caught FLASHTIMER DC.B $00 ; Timer for flashing lights FLASHPREV DC.B $00 ; Previous status of lights SIRENFREQ DC.W $0000 ; Frequency of the siren SIRENTIMER DC.W $0000 ; Timer for siren OLEFTSPD DC.W $0000 ; current speed of left motor NLEFTSPD DC.W $0000 ; next speed of left motor ORIGHTSPD DC.W $0000 ; current speed of right motor NRIGHTSPD DC.W $0000 ; next speed of right motor MAXFOWARDSPD DC.W $0000 ; maximum foward speed for motors MAXBACKSPD DC.W $0000 ; maximum reverse speed for motors LVALUE DC.B $00 ; value of left IR LREACT DC.B $00 ; reaction to left IR value RVALUE DC.B $00 ; value of right IR RREACT DC.B $00 ; reaction to right IR value CVALUE DC.B $00 ; value of center IR CREACT DC.B $00 ; reaction to center IR value PREVRAND DC.B $00 ; previous random turning direction PREVREACT DC.B $00 ; previous reaction value CURRMAN DC.W $0000 ; current manuever being performed LFVALUE DC.B $00 ; left follow sensor value CFVALUE DC.B $00 ; center follow sensor value RFVALUE DC.B $00 ; right follow sensor value FTBLIDX DC.B $00 ; index into reaction table LASTFOLLOW DC.B $00 ; last follow direction OLDCFAVG DC.W $0000 ; old average of center follow sensor values NEWCFAVG DC.W $0000 ; new average of center follow sensor values AVGCNT DC.B $0000 ; number of items in new average BUMPVALUE DC.B $00 ; A/D bumper value from wait function * ************************************************************ * Pseudointerrupt vectors ************************************************************ * ORG T0_PVECT JMP LEFTSTS ORG T1_PVECT JMP RIGHTSTS ORG TMR_OVER_PVECT JMP TIMEEXT ORG RTI_PVECT JMP UPDMOTORS ORG T6_PVECT JMP SIREN ORG USERPROG_PVECT JMP MAIN ORG PROGSTART * ************************************************************ * Main Constants ************************************************************ * WELCOME DC.B CR,LF DC.B 'STEVE - Speed Trap Enforcement VehiclE' DC.B CR,LF DC.B 'Michael Hattermann' DC.B CR,LF DC.B 'IMDL - Spring 2002' DC.B CR,LF,EOS SHUTDOWN DC.B CR,LF DC.B 'STEVE - Program ended...shutting down systems' DC.B CR,LF,EOS LEFTIRSTR DC.B 'Left IR value = ' DC.B EOS RIGHTIRSTR DC.B 'Right IR value = ' DC.B EOS NEWLINE DC.B CR,LF,EOS LEFTSPSTR DC.B 'Left beam broken' DC.B CR,LF,EOS RIGHTSPSTR DC.B 'Right beam broken' DC.B CR,LF,EOS SPEED DC.B CR,LF DC.B 'SPEED = ' DC.B EOS * ******************************************************************************* * SUBROUTINE - MAIN * Description: Main program. Inits the robots sub-systems and begins the robot * behavior code. * Input : None. * Output : None. * Destroys : None. * Calls : None. ******************************************************************************* * MAIN MOVB #$00,COPCTL ; turn off COP watchdog timer LDS #STACKPTR ; load stack pointer JSR INITSCI ; init SCI system JSR INITATD ; init A/D system JSR INITTIME ; init timer system MOVB #$00,LED1PORT ; turn off flashing lights MOVB #$00,SEG7PORT ; reset speed capture to zero LDX #WELCOME ; print welcome message JSR OUTSTR ; CLI ; turn on interrupts JSR WAITSPEED ; wait for a speeder JSR INITPWM ; init PWM system JSR FLASHON ; turn on flashing lights JSR SIRENON ; turn on siren JSR PULLOUT ; pull out and prepare to follow MAIN2 JSR FOLLOW ; follow speeder LDX #FPROCRATE ; wait designated amount of time JSR WAIT ; BRA MAIN2 ; do it again * ******************************************************************************* * SUBROUTINE - MAINOUT * Description: Exits the program. Stops motors, signals end of program with * the lights, then shuts down the subsystems and enters a * never ending loop * Input : None. * Output : None. * Destroys : None. * Calls : STEER,OUTSTR,WAIT,KILLATD,KILLPWM,KILLTIME. ******************************************************************************* * MAINOUT LDX #STOP ; stop the motors JSR STEER ; LDX #SHUTDOWN ; print shutdown message JSR OUTSTR ; LDAA #8 ; load loop counter MAINOUT1 MOVB #$3C,LED1PORT ; turn off lights JSR SIRENOFF ; turn off siren LDX #250 ; wait JSR WAIT ; MOVB #$C3,LED1PORT ; turn on lights JSR SIRENON ; turn on siren LDX #250 ; wait JSR WAIT ; DBNE A,MAINOUT1 ; continue looping until done MOVB #$00,LED1PORT ; turn on lights JSR KILLATD ; shutdown atd system JSR KILLPWM ; shutdown pwm system JSR KILLTIME ; shutdown timer system MOVB #$00,LED1PORT ; turn off flashing lights MOVB #$00,SEG7PORT ; clear 7 segment display MAINOUTX BRA MAINOUTX ; end of program * ******************************************************************************* #include "wait.asm" #include "sci.asm" #include "atd.asm" #include "time.asm" #include "pwm.asm" #include "objavoid2.asm" #include "follow.asm"