Download Electrolux TC6 Specifications

WFCLR
;JSR
TXBYTE
;(DEBUG)
;MOVB
#$00,PWDTY0
;|
;MOVB
#$00,PWDTY2
;|STOP MOTORS (DRIVING FORWARDS)
;JSR
DELAY
;WAIT DELAY PERIOD
;MOVB
#$A0,PWDTY1
;|
;MOVB
#$A0,PWDTY3
;|REVERSE STRAIGHT
BRCLR
PORTA,$02,OUTL
;IF LEFT NOT SET BRA TO OUTL
;BRCLR
PORTA,$04,OUTR
;IF RIGHT NOT SET BRA TO OUTR
BRA
WFCLR
;IF L&R SET, BRA WFCLR. WAIT FOR L
OR R TO CLEAR
OUTL
JSR
TURNL
;TURN L WHEN L SENSOR IS CLEAR
OUTR
JSR
TURNR
;TURN R WHEN R SENSOR IS CLEAR
JSR
DELAY
RTS
;RETURN TO MAIN LOOP
;*************DELAY*********************************************************
;CODE TO ADD A DELAY TO EASE THE SWITCHING OF MOTORS
;GIVES APPROX 2 SEC DELAY. CAN SHORTEN TIME BY INCREASING INITIAL Y VALUE
DELAY
LDY
#$FFDC
;INITIAL VALUE FOR Y
DELA
LDX
#$0000
;INITIAL CONDITION OF X
DEL
INX
BNE
;INCREMENT X BY 1
DEL
;IF Z NOT = 0 BRANCH TO DELAY
INY
BNE
DELA
RTS
;*************COMPARE SPEEDS**************************************************
;CODE TO COMPARE MOTOR A AND B SPEEDS AND CONTROL H BRIDGE
COMP
JSR
NEWLINE
;START NEW LINE ON SERIAL PORT
LDAA
ODMA
;LOAD MOTOR A COUNT INTO ACC A
CMPA
ODMB
;COMPARE MOTOR A WITH MOTOR B
BPL
A2FAST
;IF MOTOR A FASTER THAN MOTOR B
BMI
B2FAST
:IF MOTOR A SLOWER THAN MOTOR B
JSR
NEWLINE
;CASE MOTOR A IS FASTER THAN B
LDAA
#'a'
JSR
TXBYTE
;------------------------------------A2FAST
;TX BYTE THROUGH SERIAL (DEBUG)
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