XOR A,@0B00000110 ;光电输入是110?
JBS STATUS,Z_FLAG
JMP CHECK7
JMP ACT110
CHECK7: MOV A,TEMP
XOR A,@0B00000111 ;光电输入是111?
JBS STATUS,Z_FLAG
JMP MAIN
JMP ACT111
;-----------------------------------------------------------------------
ACT000: NOP ;保持原状，无动作，返回
JMP MAIN
ACT001: MOV A,@0B00000100 ;稍偏右，M1仃转，M2正转
MOV PORT6,A
CALL TURNDELAY
JMP ACT101
ACT010: NOP ;无动作，返回
JMP MAIN
ACT011: MOV A,@0B00000100 ;偏右，M1仃转，M2正转
MOV PORT6,A
CALL TURNDELAY
JMP ACT101
ACT100: MOV A,@0B00000001 ;稍偏左，M1正转，M2仃转
MOV PORT6,A
CALL TURNDELAY
JMP ACT101
ACT101: MOV A,@0B00000101 ;沿黑色胶带正中前进，M1正转，M2正转
MOV PORT6,A
JMP MAIN
ACT110: MOV A,@0B00000001 ;偏左，M1正转，M2仃转
MOV PORT6,A
CALL TURNDELAY
JMP ACT101
ACT111: MOV A,@0B00001001 ;没有压到黑色胶带，M1正转、M2反转
MOV PORT6,A
CALL TURNDELAY
CALL TURNDELAY
JMP ACT101
;-----------------------------------------------------------------------
TURNDELAY:MOV A,@50 ;转弯延时约100毫秒，需调整
MOV DLY3,A
CALL DELAY
RET
;-----------------------------------------------------------------------
;延时时间 ＝ 2mS * DLY3
DELAY: MOV A,@25 ;1*(DLY3)
MOV DLY2,A ;1*(DLY3)
INNER2: MOV A,@133 ;1*(DLY3)*(250)
MOV DLY1,A ;1*(DLY3)*(250)
INNER1: DJZ DLY1 ;1*(DLY3)*(250)*(133)
JMP INNER1 ;2*(DLY3)*(250)*(133)
DJZ DLY2 ;1*(DLY3)*(250)
JMP INNER2 ;2*(DLY3)*(250)
DJZ DLY3 ;1*(DLY3)
JMP DELAY ;2*(DLY3)
RET ;延时返回
EOP
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本文关键字：光电 义隆单片机，单片机-工控设备 - 义隆单片机
