LIST P=16F628A INCLUDE __CONFIG 3F61 ;----------DECLARACION DE VARIABLES------------ CBLOCK 0X20 REG1 REG2 CONT1 CONT2 CONT3 CONT4 TEMP TEMP2 ENDC ;---------------------------------------------- ;----------ARRANQUE DEL MICRO------------------ ORG 0X00 MOVLW 0X07 MOVWF CMCON BSF STATUS,RP0 MOVLW B'00011111' MOVWF TRISA MOVLW .0 MOVWF TRISB BCF STATUS,RP0 CLRF PORTA CLRF PORTB GOTO PROGRAMA ;---------------------------------------------- ;----------INICIO DEL PROGRAMA----------------- PROGRAMA MOVLW .1 MOVWF CONT1 MOVLW .1 MOVWF CONT2 MOVLW .1 MOVWF CONT3 MOVLW .1 MOVWF CONT4 MOVLW .240 MOVWF PORTB F1 GOTO BOTON1 COMP BTFSS PORTA,2 GOTO $+2 GOTO SERVO BTFSS PORTA,3 GOTO $+2 GOTO PASOS BTFSS PORTA,4 GOTO ADEL GOTO ATRAS ADEL1 INCF CONT3,1 GOTO ADEL ADEL2 DECF CONT3,1 GOTO ADEL ATRAS1 INCF CONT4,1 GOTO ATRAS ATRAS2 DECF CONT4,1 GOTO ATRAS SERV1 INCF CONT1,1 GOTO SERVO SERV2 DECF CONT1,1 GOTO SERVO PAS1 INCF CONT2,1 GOTO PASOS PAS2 DECF CONT2,1 GOTO PASOS PASOS MOVLW .1 MOVWF CONT1 MOVLW .1 MOVWF CONT3 MOVLW .1 MOVWF CONT4 MOVLW .0 XORWF CONT2,0 BTFSS STATUS,Z GOTO $+6 CLRF CONT2 MOVLW .12 MOVWF CONT2 GOTO PASO4 MOVLW .1 XORWF CONT2,0 BTFSS STATUS,Z GOTO $+2 GOTO PASO1 MOVLW .2 XORWF CONT2,0 BTFSS STATUS,Z GOTO $+2 GOTO PASO2 MOVLW .3 XORWF CONT2,0 BTFSS STATUS,Z GOTO $+2 GOTO PASO3 MOVLW .4 XORWF CONT2,0 BTFSS STATUS,Z GOTO $+2 GOTO PASO4 MOVLW .5 XORWF CONT2,0 BTFSS STATUS,Z GOTO $+2 GOTO PASO1 MOVLW .6 XORWF CONT2,0 BTFSS STATUS,Z GOTO $+2 GOTO PASO2 MOVLW .7 XORWF CONT2,0 BTFSS STATUS,Z GOTO $+2 GOTO PASO3 MOVLW .8 XORWF CONT2,0 BTFSS STATUS,Z GOTO $+2 GOTO PASO4 MOVLW .9 XORWF CONT2,0 BTFSS STATUS,Z GOTO $+2 GOTO PASO1 MOVLW .10 XORWF CONT2,0 BTFSS STATUS,Z GOTO $+2 GOTO PASO2 MOVLW .11 XORWF CONT2,0 BTFSS STATUS,Z GOTO $+2 GOTO PASO3 MOVLW .12 XORWF CONT2,0 BTFSS STATUS,Z GOTO $+2 GOTO PASO4 MOVLW .13 XORWF CONT2,0 BTFSS STATUS,Z GOTO $+5 CLRF CONT2 MOVLW .1 MOVWF CONT2 GOTO PASO1 ADEL MOVLW .1 MOVWF CONT1 MOVLW .1 MOVWF CONT2 MOVLW .1 MOVWF CONT4 MOVLW .0 XORWF CONT3,0 BTFSS STATUS,Z GOTO $+3 INCF CONT3,1 GOTO FRENTE6 MOVLW .1 XORWF CONT3,0 BTFSS STATUS,Z GOTO $+2 GOTO FRENTE6 MOVLW .2 XORWF CONT3,0 BTFSS STATUS,Z GOTO $+2 GOTO FRENTE7 MOVLW .3 XORWF CONT3,0 BTFSS STATUS,Z GOTO $+2 GOTO FRENTE8 MOVLW .4 XORWF CONT3,0 BTFSS STATUS,Z GOTO $+2 GOTO FRENTE9 MOVLW .5 XORWF CONT3,0 BTFSS STATUS,Z GOTO $+2 GOTO FRENTE10 MOVLW .6 XORWF CONT3,0 BTFSS STATUS,Z GOTO $+3 DECF CONT3,1 GOTO FRENTE10 ATRAS MOVLW .1 MOVWF CONT1 MOVLW .1 MOVWF CONT2 MOVLW .1 MOVWF CONT3 MOVLW .0 XORWF CONT4,0 BTFSS STATUS,Z GOTO $+3 INCF CONT4,1 GOTO ATRAS6 MOVLW .1 XORWF CONT4,0 BTFSS STATUS,Z GOTO $+2 GOTO ATRAS6 MOVLW .2 XORWF CONT4,0 BTFSS STATUS,Z GOTO $+2 GOTO ATRAS7 MOVLW .3 XORWF CONT4,0 BTFSS STATUS,Z GOTO $+2 GOTO ATRAS8 MOVLW .4 XORWF CONT4,0 BTFSS STATUS,Z GOTO $+2 GOTO ATRAS9 MOVLW .5 XORWF CONT4,0 BTFSS STATUS,Z GOTO $+2 GOTO ATRAS10 MOVLW .6 XORWF CONT4,0 BTFSS STATUS,Z GOTO $+3 DECF CONT4,1 GOTO ATRAS10 SERVO MOVLW .1 MOVWF CONT2 MOVLW .1 MOVWF CONT3 MOVLW .1 MOVWF CONT4 MOVLW .0 XORWF CONT1,0 BTFSS STATUS,Z GOTO $+4 INCF CONT1,1 CALL CERO GOTO F1 MOVLW .1 XORWF CONT1,0 BTFSS STATUS,Z GOTO $+3 CALL CERO GOTO F1 MOVLW .2 XORWF CONT1,0 BTFSS STATUS,Z GOTO $+3 CALL G15 GOTO F1 MOVLW .3 XORWF CONT1,0 BTFSS STATUS,Z GOTO $+3 CALL G30 GOTO F1 MOVLW .4 XORWF CONT1,0 BTFSS STATUS,Z GOTO $+3 CALL G45 GOTO F1 MOVLW .5 XORWF CONT1,0 BTFSS STATUS,Z GOTO $+3 CALL G60 GOTO F1 MOVLW .6 XORWF CONT1,0 BTFSS STATUS,Z GOTO $+3 CALL G75 GOTO F1 MOVLW .7 XORWF CONT1,0 BTFSS STATUS,Z GOTO $+3 CALL G90 GOTO F1 MOVLW .8 XORWF CONT1,0 BTFSS STATUS,Z GOTO $+3 CALL G105 GOTO F1 MOVLW .9 XORWF CONT1,0 BTFSS STATUS,Z GOTO $+3 CALL G120 GOTO F1 MOVLW .10 XORWF CONT1,0 BTFSS STATUS,Z GOTO $+3 CALL G135 GOTO F1 MOVLW .11 XORWF CONT1,0 BTFSS STATUS,Z GOTO $+3 CALL G150 GOTO F1 MOVLW .12 XORWF CONT1,0 BTFSS STATUS,Z GOTO $+3 CALL G165 GOTO F1 MOVLW .13 XORWF CONT1,0 BTFSS STATUS,Z GOTO $+3 CALL G180 GOTO F1 MOVLW .14 XORWF CONT1,0 BTFSS STATUS,Z GOTO $+3 DECF CONT1,1 CALL G180 GOTO F1 ;---------------------------------- ;--------------PASOS--------------- PASO1 MOVLW B'01110000' MOVWF PORTB CALL RETARDO1 GOTO F1 PASO2 MOVLW B'10110000' MOVWF PORTB CALL RETARDO1 GOTO F1 PASO3 MOVLW B'11010000' MOVWF PORTB CALL RETARDO1 GOTO F1 PASO4 MOVLW B'11100000' MOVWF PORTB CALL RETARDO1 GOTO F1 ;---------------------------------- ;--------VELOCIDAD ADELANTE-------- FRENTE6 MOVLW B'00110000' MOVWF PORTB CALL RETARDO30 MOVLW B'10010000' MOVWF PORTB CALL RETARDO30 MOVLW B'11000000' MOVWF PORTB CALL RETARDO30 MOVLW B'01100000' MOVWF PORTB CALL RETARDO30 GOTO F1 FRENTE7 MOVLW B'00110000' MOVWF PORTB CALL RETARDO20 MOVLW B'10010000' MOVWF PORTB CALL RETARDO20 MOVLW B'11000000' MOVWF PORTB CALL RETARDO20 MOVLW B'01100000' MOVWF PORTB CALL RETARDO20 GOTO F1 FRENTE8 MOVLW B'00110000' MOVWF PORTB CALL RETARDO15 MOVLW B'10010000' MOVWF PORTB CALL RETARDO15 MOVLW B'11000000' MOVWF PORTB CALL RETARDO15 MOVLW B'01100000' MOVWF PORTB CALL RETARDO15 GOTO F1 FRENTE9 MOVLW B'00110000' MOVWF PORTB CALL RETARDO10 MOVLW B'10010000' MOVWF PORTB CALL RETARDO10 MOVLW B'11000000' MOVWF PORTB CALL RETARDO10 MOVLW B'01100000' MOVWF PORTB CALL RETARDO10 GOTO F1 FRENTE10 MOVLW B'00110000' MOVWF PORTB CALL RETARDO1 MOVLW B'10010000' MOVWF PORTB CALL RETARDO1 MOVLW B'11000000' MOVWF PORTB CALL RETARDO1 MOVLW B'01100000' MOVWF PORTB CALL RETARDO1 GOTO F1 ;---------------------------------- ;--------VELOCIDAD ATRAS----------- ATRAS6 MOVLW B'01100000' MOVWF PORTB CALL RETARDO30 MOVLW B'11000000' MOVWF PORTB CALL RETARDO30 MOVLW B'10010000' MOVWF PORTB CALL RETARDO30 MOVLW B'00110000' MOVWF PORTB CALL RETARDO30 GOTO F1 ATRAS7 MOVLW B'01100000' MOVWF PORTB CALL RETARDO20 MOVLW B'11000000' MOVWF PORTB CALL RETARDO20 MOVLW B'10010000' MOVWF PORTB CALL RETARDO20 MOVLW B'00110000' MOVWF PORTB CALL RETARDO20 GOTO F1 ATRAS8 MOVLW B'01100000' MOVWF PORTB CALL RETARDO15 MOVLW B'11000000' MOVWF PORTB CALL RETARDO15 MOVLW B'10010000' MOVWF PORTB CALL RETARDO15 MOVLW B'00110000' MOVWF PORTB CALL RETARDO15 GOTO F1 ATRAS9 MOVLW B'01100000' MOVWF PORTB CALL RETARDO10 MOVLW B'11000000' MOVWF PORTB CALL RETARDO10 MOVLW B'10010000' MOVWF PORTB CALL RETARDO10 MOVLW B'00110000' MOVWF PORTB CALL RETARDO10 GOTO F1 ATRAS10 MOVLW B'01100000' MOVWF PORTB CALL RETARDO1 MOVLW B'11000000' MOVWF PORTB CALL RETARDO1 MOVLW B'10010000' MOVWF PORTB CALL RETARDO1 MOVLW B'00110000' MOVWF PORTB CALL RETARDO1 GOTO F1 ;------------GIRO DEL SERVO-------- CERO BSF PORTB,0 CALL RET0 BCF PORTB,0 CALL RETBAJO RETURN G15 BSF PORTB,0 CALL RET15 BCF PORTB,0 CALL RETBAJO RETURN G30 BSF PORTB,0 CALL RET30 BCF PORTB,0 CALL RETBAJO RETURN G45 BSF PORTB,0 CALL RET45 BCF PORTB,0 CALL RETBAJO RETURN G60 BSF PORTB,0 CALL RET60 BCF PORTB,0 CALL RETBAJO RETURN G75 BSF PORTB,0 CALL RET75 BCF PORTB,0 CALL RETBAJO RETURN G90 BSF PORTB,0 CALL RET90 BCF PORTB,0 CALL RETBAJO RETURN G105 BSF PORTB,0 CALL RET105 BCF PORTB,0 CALL RETBAJO RETURN G120 BSF PORTB,0 CALL RET120 BCF PORTB,0 CALL RETBAJO RETURN G135 BSF PORTB,0 CALL RET135 BCF PORTB,0 CALL RETBAJO RETURN G150 BSF PORTB,0 CALL RET150 BCF PORTB,0 CALL RETBAJO RETURN G165 BSF PORTB,0 CALL RET165 BCF PORTB,0 CALL RETBAJO RETURN G180 BSF PORTB,0 CALL RET180 BCF PORTB,0 CALL RETBAJO RETURN ;---------------------------------- ;-------------RETARDOS------------- RET0 MOVLW .133 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 RETURN RET15 MOVLW .173 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 RETURN RET30 MOVLW .212 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 RETURN RET45 MOVLW .6 MOVWF REG2 G11 MOVLW .46 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 DECFSZ REG2,1 GOTO G11 RETURN RET60 MOVLW .6 MOVWF REG2 G12 MOVLW .54 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 DECFSZ REG2,1 GOTO G12 RETURN RET75 MOVLW .6 MOVWF REG2 G13 MOVLW .62 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 DECFSZ REG2,1 GOTO G13 RETURN RET90 MOVLW .6 MOVWF REG2 G14 MOVLW .69 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 DECFSZ REG2,1 GOTO G14 RETURN RET105 MOVLW .6 MOVWF REG2 G015 MOVLW .79 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 DECFSZ REG2,1 GOTO G015 RETURN RET120 MOVLW .6 MOVWF REG2 G16 MOVLW .88 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 DECFSZ REG2,1 GOTO G16 RETURN RET135 MOVLW .7 MOVWF REG2 G17 MOVLW .81 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 DECFSZ REG2,1 GOTO G17 RETURN RET150 MOVLW .6 MOVWF REG2 G18 MOVLW .106 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 DECFSZ REG2,1 GOTO G18 RETURN RET165 MOVLW .6 MOVWF REG2 G19 MOVLW .114 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 DECFSZ REG2,1 GOTO G19 RETURN RET180 MOVLW .7 MOVWF REG2 G20 MOVLW .101 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 DECFSZ REG2,1 GOTO G20 RETURN RETBAJO MOVLW .11 MOVWF REG2 G3 MOVLW .255 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 DECFSZ REG2,1 GOTO G3 RETURN RETARDO1 MOVLW .8 MOVWF REG2 MOVLW .237 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 DECFSZ REG2,1 GOTO $-5 RETURN RETARDO10 MOVLW .15 MOVWF REG2 MOVLW .237 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 DECFSZ REG2,1 GOTO $-5 RETURN RETARDO15 MOVLW .22 MOVWF REG2 MOVLW .237 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 DECFSZ REG2,1 GOTO $-5 RETURN RETARDO20 MOVLW .29 MOVWF REG2 MOVLW .237 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 DECFSZ REG2,1 GOTO $-5 RETURN RETARDO30 MOVLW .43 MOVWF REG2 MOVLW .237 MOVWF REG1 DECFSZ REG1,1 GOTO $-1 DECFSZ REG2,1 GOTO $-5 RETURN ;---------------------------------------- ;-----SECUENCIA ANTIREBOTE DEL BOTON----- BOTON1 BTFSS PORTA,0 GOTO $-1 BTFSC PORTA,0 GOTO BOTON2 BTFSS PORTA,2 GOTO $+2 GOTO SERV1 BTFSS PORTA,3 GOTO $+2 GOTO PAS1 BTFSS PORTA,4 GOTO ADEL1 GOTO ATRAS1 BOTON2 BTFSS PORTA,1 GOTO $-1 BTFSC PORTA,1 GOTO COMP BTFSS PORTA,2 GOTO $+2 GOTO SERV2 BTFSS PORTA,3 GOTO $+2 GOTO PAS2 BTFSS PORTA,4 GOTO ADEL2 GOTO ATRAS2 END