Specifications

89
Software Module Description (Major modules)
Module Name:
MAIN
Purpose: To run a tight loop continuously monitoring all sensors and
odometer readings.
Called by: N/A
Calls: INITSCO, INITKWG, INITPWM, INITIRQ, INITPA, TURNL,
COMP
Validation: PORT A OBSTACLE SENSORS
Registers used: A and memory location COUNT
Module Name:
DRFWD
Purpose: Initialise driving forward
Called by: IRQISR, TURNL, TURNR
Calls: N/A
Validation: N/A
Registers used: N/A
Module Name:
TURNL and TURNR
Purpose: To turn the robot in the desired direction by 90 degrees
Called by: MAIN
Calls: TXBYTE, DELAY, DRFWD
Validation: Outputs to PWDTY registers
Registers used: A, B, and X
Module Name:
BACKUP
Purpose: Reverse the robot in a straight line
Called by: TURNR
Calls: DELAY, TURNR, TURNL
Validation: outputs to PWDTY registers
Registers used: A, B, X