Photoelectric automatic track tracking vehicle

;***************************************************************************
; Photoelectric automatic track tracking vehicle.dt
;***************************************************************************

 PORT5 == 0x05 ; define port 5, 6, 7
 PORT6 == 0x06
 PORT7 == 0x07
;-----------------------------------------------------------------------
 IOCE == 0x0E ; define WDT control register IOCE
;-----------------------------------------------------------------------
 STATUS == 3 ; define status register STATUS and zero flag Z_FLAG
 Z_FLAG == 2
;---------------------------------------------------------------
 DLY1 == 13 ; define delay setting unit DLY1, DLY2, DLY3
 DLY2 == 14
 DLY3 == 15 
 TEMP == 16 ; define temporary register unit TEMP to store photoelectric read data       
;-----------------------------------------------------------------------
          ORG 0x00
 
 INIT: MOV A,@0x0FF ; set P7 port all as input
          IOW PORT7
          IOW PORT5             
          MOV A,@0x00 ; set P6 port all as output
          IOW PORT6
          MOV A,@0X11             
          IOW IOCE ;Turn off the watchdog function
          MOV A,@0x00 ;Stop the motor
          MOV PORT6,A
;-----------------------------------------------------------------------
 MAIN: MOV A,PORT7 ;Read photoelectric input
          AND A,@0B00000111 ;Shield the upper 5 bits
          XOR A,@0B00000111
          MOV TEMP,A
          BC STATUS,Z_FLAG ;Clear the zero flag
 CHECK0: MOV A,TEMP   
          XOR A,@0B00000000 ;Is the photoelectric input 000?
          JBS STATUS,Z_FLAG
          JMP CHECK1
          JMP ACT000
 CHECK1: MOV A,TEMP
          XOR A,@0B00000001 ; Is the photoelectric input 001?
          JBS STATUS,Z_FLAG
          JMP CHECK2
          JMP ACT001
 CHECK2: MOV A,TEMP
          XOR A,@0B00000010 ; Is the photoelectric input 010? JBS STATUS,Z_FLAG           JMP CHECK3           JMP ACT010  CHECK3: MOV A,TEMP           XOR A,@0B00000011 ; Is the photoelectric input 011?           JBS STATUS,Z_FLAG
          JMP           CHECK4           JMP ACT011  CHECK4: MOV A,TEMP           XOR A,@0B00000100 ; Is the photoelectric input 100?           JBS STATUS,Z_FLAG           JMP CHECK5           JMP ACT100  CHECK5: MOV A,TEMP           XOR A,@0B00000101 ; Is the photoelectric input 101?














          JBS STATUS,Z_FLAG
          JMP CHECK6
          JMP ACT101
 CHECK6: MOV A,TEMP
          XOR A,@0B00000110 ;Is the photoelectric input 110?
          JBS STATUS,Z_FLAG
          JMP CHECK7
          JMP ACT110
 CHECK7: MOV A,TEMP
          XOR A,@0B00000111 ;Is the photoelectric input 111?
          JBS STATUS,Z_FLAG
          JMP MAIN
          JMP ACT111
;-----------------------------------------------------------------------
 ACT000: NOP ;Keep the status quo, no action, return to    
          JMP MAIN
 ACT001: MOV A,@0B00000100 ;Slightly to the right, M1 stops, M2 rotates forward                  
          MOV PORT6,A
          CALL TURNDELAY
          JMP ACT101
 ACT010: ​​NOP ;No action, return to
          JMP MAIN
 ACT011: MOV A,@0B00000100 ;Lean to the right, M1 stops, M2 rotates forward                  
          MOV PORT6,A
          CALL TURNDELAY
          JMP ACT101
 ACT100: MOV A,@0B00000001 ;Slightly to the left, M1 rotates forward, M2 stops 
          MOV PORT6,A
          CALL TURNDELAY
          JMP ACT101
 ACT101: MOV A,@0B00000101 ;Move along the center of the black tape, M1 rotates forward, M2 rotates forward 
          MOV PORT6,A
          JMP MAIN
 ACT110: MOV A,@0B00000001 ;Lean to the left, M1 rotates forward, M2 stops 
          MOV PORT6,A
          CALL TURNDELAY
          JMP ACT101
 ACT111: MOV A,@0B00001001 ;The black tape is not pressed, M1 rotates forward and M2 rotates reversely
          MOV PORT6,A
          CALL TURNDELAY
          CALL TURNDELAY
          JMP ACT101
;-----------------------------------------------------------------------
 TURNDELAY:MOV A,@50 ;The turning delay is about 100 milliseconds, which needs to be adjusted
          MOV DLY3,A
          CALL DELAY
          RET
;-----------------------------------------------------------------------
                                        ;Delay time = 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 ;Delay return
          to EOP