Specifications

82
LDAA #'B'
JSR TXBYTE ;WRITE TO SERIAL PORT (DEBUG)
;****SENSOR G 1************
NOTG0 BRCLR KWIFG,$02,NOTG1 ;CHECK BIT 1
LDAA ODMA ;IF MOTOR A, LDA WITH ODOM COUNT
A
ADDA #$01 ;ADD 1 TO COUNT
STAA ODMA ;STORE BACK TO ODMA
LDAA COUNT
ADDA #$01
STAA COUNT
LDAA #'A'
JSR TXBYTE ;WRITE TO SERIAL PORT (DEBUG)
;********FALSE INTERRUPT********
NOTG1 MOVB #%00000011,KWIFG ;CLEAR WAKE UP FLAGS
RTI ;RETURN FROM INTERRUPT
;**********************IRQ SERVICE ROUTINE**************************
;THIS INTERRUPT STARTS THE ROBOT WHEN BUTTON IS PRESSED
IRQISR JSR DELAY ;PROVIDES SOME SWITCH BOUNCE
JSR DRFWD ;BEGIN DRIVING
RTI ;RETURN FROM INTERRUPT
;******************************************************************************
;SETUP PWM Channels
INITPWM MOVB #%00111111,PWCLK ;PRESCALER OF /128
MOVB #%00001111,PWPOL ;PPOL
MOVB #%00001111,PWEN ;ENABLE ALL OUTPUTS
MOVB #%00000010,PWCTL ;PULL UP DEVICE ENABLED
SETPWM MOVB #$FF,PWPER0 ;|
MOVB #$FF,PWPER1 ;|PERIOD FOR PWM
MOVB #$FF,PWPER2 ;|
MOVB #$FF,PWPER3 ;|
RTS ;RETURN TO MAIN