Line Addr Packet Source Program
1 * test program with interrupt
2 * made by Yoshio Yoshioka
3 * 2004.05.21 Ver.03
4 *
5 speed1 equ 30
6 speed2 equ 30
7 buzlevel equ 50
8 buztempo equ 30
9 red0 equ 0
10 red255 equ 255
11 green0 equ 0
12 green255 equ 255
13 blue0 equ 0
14 blue255 equ 255
15 optright equ 250
16 optleft equ 250
17 salarm1 equ 100
18 salarm2 equ 200
19 time equ 500
20 *
21 0000 *150002040300000A0000E0_ BindBlock
0001 *1500020403010A100000E2_
0002 *1500020403020A110000E4_
0003 *1500020403030B100000E5_
0004 *1500020403040B1A0000F7_
0005 *1500020403050C100000E8_
0006 *1500020403060C1A0000FA_
0007 *1500020403070D100000EB_
0008 *1500020403080E100000ED_
0009 *1500020403090F100000EF_
000A *15000204030A11100000E3_
000B *15000204020000000000CE_
22 0000 *15000100000000000000C7_ Subroutine
23 * motor initialize
24 initialize
25 0001 *15000101070000010002D2_ MotorSetMode VEL_MODE,speed1,speed2
0002 *15000102070000010103D5_
0003 *150001030701001E0004EC_
0004 *150001040701001E0105EF_
26 0005 *15000105070000060206E1_ BuzzerOn MODE6,buzlevel,buztempo
0006 *15000106070100320207E3_
0007 *150001070705001E0208FA_
0008 *15000108070200010209E4_
27 0009 *1500010907000006030AF1_ BuzzerOn2 MODE6,buzlevel,buztempo
000A *1500010A07010032030BFA_
000B *1500010B0705001E030C11_
000C *1500010C07020001030DFB_
28 000D *1500010D07000001080E00_ OpticalSetMode REF_MODE,optleft,optright
000E *1500010E070600FA080F2E_
000F *1500010F070700FA08101B_
29 0010 *15000110070000020711DA_ UltrasonicSetMode ALM_MODE,MEDIUM,salarm1,salarm2
0011 *15000111070100020712DD_
0012 *15000112070600640713EC_
0013 *15000113070700C8071400_
30 0014 *15000114160000000000D3_ Return
31 *
32 forward
33 0015 *15000115070000000416DF_ LightOn CONTINUOUS,red255,green0,blue0
0016 *15000116070500FF041712_
0017 *15000117070600000418E9_
0018 *15000118070700000419EC_
0019 *1500011907020003041AF3_
001A *1500011A07020001041BFA_
34 001B *1500011B07000000051CFA_ LightOn2 CONTINUOUS,red255,green0,blue0
001C *1500011C070500FF051D2D_
001D *1500011D07060000051E04_
001E *1500011E07070000051F07_
001F *1500011F070200030520F1_
0020 *15000120070200010521DB_
35 0021 *15000121070600000022DB_ Forward
0022 *15000122070700000123DF_
0023 *1500012307000000FF2405_
36 0024 *15000124080001F40025F7_ WaitTimer time
37 0025 *15000125160000000000D5_ Return
38 *
39 backward
40 0026 *15000126070000000427E3_ LightOn CONTINUOUS,red0,green255,blue0
0027 *15000127070500000428EA_
0028 *15000128070600FF042919_
0029 *1500012907070000042AF7_
002A *1500012A07020003042BFE_
002B *1500012B07020001042CFE_
41 002C *1500012C07000000052DFE_ LightOn2 CONTINUOUS,red0,green255,blue0
002D *1500012D07050000052E05_
002E *1500012E070600FF052F34_
002F *1500012F070700000530F5_
0030 *15000130070200030531DF_
0031 *15000131070200010532DF_
42 0032 *15000132070700000033E0_ Backward
0033 *15000133070600000134E2_
0034 *1500013407000000FF3509_
43 0035 *15000135080001F40036FB_ WaitTimer time
44 0036 *15000136160000000000D7_ Return
45 *
46 rotateright
47 0037 *15000137070000000438E7_ LightOn CONTINUOUS,red0,green0,blue255
0038 *15000138070500000439EE_
0039 *1500013907060000043AF8_
003A *1500013A070700FF043B2E_
003B *1500013B07020003043C02_
003C *1500013C07020001043D02_
48 003D *1500013D07000000053E02_ LightOn2 CONTINUOUS,red0,green0,blue255
003E *1500013E07050000053F09_
003F *1500013F070600000540F6_
0040 *15000140070700FF05410F_
0041 *15000141070200030542E3_
0042 *15000142070200010543E3_
49 0043 *15000143070600000044E3_ RotateRight
0044 *15000144070600000145E6_
0045 *1500014507000000FF460D_
50 0046 *15000146080001F40047FF_ WaitTimer time
51 0047 *15000147160000000000D9_ Return
52 *
53 rotateleft
54 0048 *15000148070000000449EB_ LightOn CONTINUOUS,red0,green255,blue255
0049 *1500014907050000044AF9_
004A *1500014A070600FF044B2F_
004B *1500014B070700FF044C32_
004C *1500014C07020003044D06_
004D *1500014D07020001044E06_
55 004E *1500014E07000000054F06_ LightOn2 CONTINUOUS,red0,green255,blue255
004F *1500014F070500000550F7_
0050 *15000150070600FF055110_
0051 *15000151070700FF055213_
0052 *15000152070200030553E7_
0053 *15000153070200010554E7_
56 0054 *15000154070700000055E8_ RotateLeft
0055 *15000155070700000156EB_
0056 *1500015607000000FF5711_
57 0057 *15000157080001F4005803_ WaitTimer time
58 0058 *15000158160000000000DB_ Return
59 *
60 stop
61 0059 *1500015907000000045AF6_ LightOn CONTINUOUS,red255,green255,blue255
005A *1500015A070500FF045B30_
005B *1500015B070600FF045C33_
005C *1500015C070700FF045D36_
005D *1500015D07020003045E0A_
005E *1500015E07020001045F0A_
62 005F *1500015F070000000560F4_ LightOn2 CONTINUOUS,red255,green255,blue255
0060 *15000160070500FF056111_
0061 *15000161070600FF056214_
0062 *15000162070700FF056317_
0063 *15000163070200030564EB_
0064 *15000164070200010565EB_
63 0065 *15000165070300000066E8_ MotorStop
0066 *15000166070300000167EB_
0067 *1500016707000000FF6815_
64 0068 *15000168080001F4006907_ WaitTimer time
65 0069 *15000169160000000000DD_ Return
66 *
67 opticalgetleft
68 006A *1500016A0A020008006B11_ OpticalGetState LEFT
006B *1500016B0C000000006C0B_
006C *1500016C0F0000006D6D2A_
69 006D *1500016D0CFF0000006E3B_ ReturnWithValue
006E *1500016E26000000006F06_
006F *1500016F0CFD0000007027_
0070 *15000170160000000000D5_
70 *
71 opticalgetright
72 0071 *150001710A0200080072F3_ OpticalGetState RIGHT
0072 *150001720C0000000073ED_
0073 *150001730F0100007474FE_
73 0074 *150001740CFF000000751D_ ReturnWithValue
0075 *15000175260000000076E8_
0076 *150001760CFD000000771F_
0077 *15000177160000000000DC_
74 *
75 touchgettopR
76 0078 *150001780A0200060079FF_ TouchGetState R.TOP
0079 *150001790C000000007A02_
007A *1500017A0F0600007B7B2D_
77 007B *1500017B0CFF0000007C39_ ReturnWithValue
007C *1500017C26000000007D04_
007D *1500017D0CFD0000007E3B_
007E *1500017E160000000000EA_
78 *
79 touchgettopL
80 007F *1500017F0A020006008005_ TouchGetState L.TOP
0080 *150001800C0000000081EB_
0081 *150001810F0200008282FC_
81 0082 *150001820CFF000000831B_ ReturnWithValue
0083 *15000183260000000084E6_
0084 *150001840CFD000000851D_
0085 *15000185160000000000DB_
82 *
83 touchgetleftR
84 0086 *150001860A0200060087FD_ TouchGetState R.LEFT
0087 *150001870C0000000088F9_
0088 *150001880F070000898916_
85 0089 *150001890CFF0000008A30_ ReturnWithValue
008A *1500018A26000000008B02_
008B *1500018B0CFD0000008C39_
008C *1500018C160000000000E9_
86 *
87 touchgetleftL
88 008D *1500018D0A020006008E19_ TouchGetState L.LEFT
008E *1500018E0C000000008F15_
008F *1500018F0F030000909010_
89 0090 *150001900CFF0000009119_ ReturnWithValue
0091 *15000191260000000092E4_
0092 *150001920CFD000000931B_
0093 *15000193160000000000DA_
90 *
91 touchgetrightR
92 0094 *150001940A0200060095FB_ TouchGetState R.RIGHT
0095 *150001950C0000000096F7_
0096 *150001960F050000979711_
93 0097 *150001970CFF0000009827_ ReturnWithValue
0098 *15000198260000000099F2_
0099 *150001990CFD0000009A30_
009A *1500019A160000000000E8_
94 *
95 touchgetrightL
96 009B *1500019B0A020006009C17_ TouchGetState L.RIGHT
009C *1500019C0C000000009D13_
009D *1500019D0F0100009E9E37_
97 009E *1500019E0CFF0000009F43_ ReturnWithValue
009F *1500019F2600000000A0FF_
00A0 *150001A00CFD000000A127_
00A1 *150001A1160000000000E0_
98 *
99 touchgetbottomR
100 00A2 *150001A20A02000600A307_ TouchGetState R.BOTTOM
00A3 *150001A30C00000000A403_
00A4 *150001A40F040000A5A522_
101 00A5 *150001A50CFF000000A633_ ReturnWithValue
00A6 *150001A62600000000A7FE_
00A7 *150001A70CFD000000A835_
00A8 *150001A8160000000000E7_
102 *
103 touchgetbottomL
104 00A9 *150001A90A02000600AA1C_ TouchGetState L.BOTTOM
00AA *150001AA0C00000000AB1F_
00AB *150001AB0F000000ACAC48_
105 00AC *150001AC0CFF000000AD4F_ ReturnWithValue
00AD *150001AD2600000000AE1A_
00AE *150001AE0CFD000000AF51_
00AF *150001AF160000000000F5_
106 *
107 ultrasonicget0
108 00B0 *150001B00A02000700B106_ UltrasonicGetState 0
00B1 *150001B10C00000000B201_
00B2 *150001B20F000000B3B31B_
109 00B3 *150001B30CFF000000B431_ ReturnWithValue
00B4 *150001B42600000000B5FC_
00B5 *150001B50CFD000000B633_
00B6 *150001B6160000000000E6_
110 *
111 ultrasonicget1
112 00B7 *150001B70A02000700B814_ UltrasonicGetState 1
00B8 *150001B80C00000000B90F_
00B9 *150001B90F010000BABA3F_
113 00BA *150001BA0CFF000000BB4D_ ReturnWithValue
00BB *150001BB2600000000BC18_
00BC *150001BC0CFD000000BD4F_
00BD *150001BD160000000000F4_
114 *
115 0000 *15000000000000000000C6_ Mainroutine
116 0001 *15000001000100000002CA_ CallSub initialize
117 loopback
118 0002 *15000002001500FF040301_ CallSub forward,$ff,int
119 0003 *15000003060000000002D1_ Jump loopback
120 *
121 int
122 0004 *15000004017800001705E7_ CallSubAndTest touchgettopR,next04
123 0005 *15000005018600001706E8_ CallSubAndTest touchgetleftR,next04
124 0006 *15000006019400001707E9_ CallSubAndTest touchgetrightR,next04
125 0007 *1500000701A200001708F1_ CallSubAndTest touchgetbottomR,next04
126 0008 *15000008017F00001709FD_ CallSubAndTest touchgettopL,next04
127 0009 *15000009018D0000170A05_ CallSubAndTest touchgetleftL,next04
128 000A *1500000A019B0000170B0D_ CallSubAndTest touchgetrightL,next04
129 000B *1500000B01A90000170C0E_ CallSubAndTest touchgetbottomL,next04
130 000C *1500000C01B00000110D02_ CallSubAndTest ultrasonicget0,next01
131 000D *1500000D01B70000110E0B_ CallSubAndTest ultrasonicget1,next01
132 000E *1500000E016A0000130F0D_ CallSubAndTest opticalgetleft,next02
133 000F *1500000F017100001510EC_ CallSubAndTest opticalgetright,next03
134 0010 *15000010060000000002CF_ Jump loopback
135 next01
136 0011 *15000011002600000012D3_ CallSub backward
137 0012 *15000012060000000004D3_ Jump int
138 next02
139 0013 *15000013004800000014DB_ CallSub rotateleft
140 0014 *15000014060000000002D3_ Jump loopback
141 next03
142 0015 *15000015005900000016E1_ CallSub stop
143 0016 *15000016060000000002D5_ Jump loopback
144 next04
145 0017 *15000017003700000018E1_ CallSub rotateright
146 0018 *15000018060000000004D9_ Jump int
147 0019 *15000200190000000000D2_ Execute
148 end