Specifications

90
Module Name:
DELAY
Purpose: To create a pause in the program.
Called by: IRQISR, TURNL, TURNR, BACKUP
Calls: N/A
Validation: N/A
Registers used: X and Y
System Implementation
Data dictionary
Constants and variables used in this code are listed below.
- ODMA odometer counter of motor A
- ODMB odometer counter of motor B
- COUNT variable used in compare function
Conversion procedures
The assembly language code has been written in a text editor such as notepad or
MiniIDE and built into a listing file using MiniIDE. Data has been transferred to
the microcontroller using the program OC Console.
Load Map
- Data is to be loaded at $0200.
-
Program starts at $0400
-
Stack pointer set to clear area at $0700
Conclusions
The system performed adequately to the required specifications. The software
responded as desired for all sensor inputs including odometer readings. As a result
of the success, the robot is able to drive at a constant speed in a straight line between
obstacles.
The robots performance could be improved by adding additional code in many of
the functions. One such instance is the adding of ramps in the PWDTY registers to
‘ease’ into the desired speed. If dead reckoning guidance is implemented, this code
will require extensive modification.