xunji.rar_循迹小车

ORG 0000H LJMP MAIN0 ORG 000BH lJMP SERVE ORG 0200H MAIN0: CLR CON ON : ;MOV P0,#00000000B JB P3.1, ON MOV DPTR,#TAB nop nop MOV SP ,#60H MOV TMOD,#01H MOV TL0,#0B0H MOV TH0,#3CH SETB ET0 SETB EA SETB TR0 MOV 40H,#10 MOV 41H,#00H MOV A,41H MOV B,#0AH DIV AB MOVC A,@A+DPTR MOV P2,A MOV A,B MOVC A,@A+DPTR MOV P0,A ;SJMP $ ORG 0300H LSS EQU ACC.0 MSS EQU ACC.2 RSS EQU ACC.3 LMO EQU P3.6 RMO EQU P3.4 CON EQU P1.1 CLR CON START: CLR LMO CLR RMO NOP NOP CALL SS CALL DLA100MS CALL DLA100MS CALL DLA100MS ;SJMP START RIGHT: CALL SS JNB ACC.2,ERR CLR LMO CLR RMO CALL DLA50MS NOP SJMP RIGHT ERR: CALL SS JNB ACC.0,ERRL ERR8: SETB LMO CLR RMO CALL DLA50MS CALL SS JB ACC.0,ERR8 SJMP RIGHT ERRL: CALL SS JNB ACC.3,STOP ERRL9: CLR LMO SETB RMO CALL DLA50MS CALL SS JB ACC.3,ERRL9 SJMP RIGHT STOP: CLR TR0 CALL DLA100MS CALL DLA1S SETB RMO SETB LMO CALL DLA10S SETB TR0 GOON : SETB CON SETB CON CALL DLA100MS CLR LMO CLR RMO CALL DLA100MS RIGHT2: CALL DLA100MS CALL SS JNB ACC.2,RIGHT2 SETB RMO SETB LMO CALL DLA100MS CLR CON CALL DLA100MS CLR LMO CLR RMO RIGHT1: CALL SS JNB ACC.2,ERR1 CLR LMO CLR RMO CALL DLA50MS NOP SJMP RIGHT1 ERR1: CALL SS JNB ACC.0,ERRL1 ERR11: SETB LMO CLR RMO CALL DLA50MS CALL SS JB ACC.0,ERR11 SJMP RIGHT1 ERRL1: CALL SS JNB ACC.3,STOP1 ERRL12: CLR LMO SETB RMO CALL DLA50MS CALL SS JB ACC.3,ERRL12 SJMP RIGHT1 STOP1: CALL DLA1S SETB RMO SETB LMO CLR TR0 SJMP $ SS: MOV 30H,P3 ANL 30H,#00001101B NOP NOP mov A,p3 ANL A,#00001101B XRL A,30H NOP NOP JNZ SS mov A,p3 ANL A,#00001101B XRL A,30H NOP NOP JNZ SS mov A,p3 ANL A,#00001101B XRL A,30H NOP NOP JNZ SS mov A,p3 ANL A,#00001101B XRL A,30H NOP NOP JNZ SS mov A,p3 ANL A,#00001101B XRL A,30H NOP NOP JNZ SS mov A,p3 ANL A,#00001101B XRL A,30H NOP NOP JNZ SS mov A,p3 ANL A,#00001101B XRL A,30H NOP NOP JNZ SS mov A,p3 ANL A,#00001101B XRL A,30H NOP NOP JNZ SS mov A,p3 ANL A,#00001101B XRL A,30H NOP NOP JNZ SS mov A,p3 ANL A,#00001101B XRL A,30H NOP NOP JNZ SS mov A,p3 ANL A,#00001101B XRL A,30H NOP NOP JNZ SS mov A,p3 ANL A,#00001101B XRL A,30H NOP NOP JNZ SS MOV A,30H ;MOV P0,A NOP NOP RET DLA10S: MOV R7,#10 d8: NOP NOP call DLA1S DJNZ R7,d8 NOP NOP RET DLA1S: MOV R5,#10 d3: NOP NOP call DLA100MS DJNZ R5,d3 NOP NOP RET DLA100MS: MOV R3,#10 D2: MOV R1,#20 D1: MOV R2,#248 DJNZ R2,$ DJNZ R1,D1 DJNZ R3,D2 NOP NOP RET DLA50MS: MOV R3,#5 m2: MOV R1,#20 m1: MOV R2,#248 DJNZ R2,$ DJNZ R1,m1 DJNZ R3,m2 NOP NOP RET SERVE: PUSH ACC MOV TMOD,#01H MOV TL0,#0B0H MOV TH0,#3CH INC 40H MOV A,40H CJNE A,#20,LOOP MOV 40H,#00H INC 41H MOV A,41H MOV B,#0AH DIV AB MOVC A,@A+DPTR MOV P2,A MOV A,B MOVC A,@A+DPTR MOV P0,A LOOP: POP ACC RETI TAB: DB 11000000B ;0 DB 11111001B ;1 DB 10100100B ;2 DB 10110000B ;3 DB 10011001B ;4 DB 10010010B ;5 DB 10000010B ;6 DB 11111000B ;7 DB 10000000B ;8 DB 10010000B ;9 END