faster.asm

;	PIC test program
;
        list  p=16f84
;
; define config fuses
;
	include "p16f84.inc"
	__CONFIG  _HS_OSC & _PWRTE_ON & _WDT_OFF

DELAYT	EQU	02H
; 
LED0	EQU	00
LED1	EQU	01
M0	EQU	03
M1	EQU	02
SW0	EQU	00
SW1	EQU	01
S0	EQU	02
S1	EQU	03
S2	EQU	04
S3	EQU	05
;
TIMEF0	EQU	0CH
TIMEF1	EQU	0DH
TIMEF2	EQU	0EH
CNT EQU 12H
REG_A	EQU	10H
REG_B	EQU	11H
WHICH EQU 13H
;
; 
;********* Program Memory Programming ***********
;
	ORG	00
	GOTO	INIT
	ORG	04
	GOTO	INTR
	ORG	10H
INIT
	BSF	STATUS,RP0	;Select page 1
	MOVLW	000H		;Set Input/Output
	MOVWF	PORTA	        ;SET PORT A
	MOVWF	INTCON
	MOVLW	0ffh
	MOVWF	PORTB
	BCF	STATUS,RP0	;SELECT PAGE 0
START
	MOVLW	000H
	MOVWF	PORTA
	MOVLW	0FFH		; Set 1
	MOVWF	REG_B 
;add CLRF CNT before JUMP!!!!!1
LOOP
  BTFSC PORTB, S0 ;1 = BLACK
  CALL BNNN
  BTFSS PORTB, S0 ;0 = WHITE
  CALL WNNN
;  BCF PORTA,M0
;  BCF PORTA,M1
	GOTO	LOOP
BNNN
  BTFSC PORTB, S1
  GOTO BBNN
  GOTO BWNN
BBNN
  BTFSC PORTB, S2
  GOTO BBBN
  GOTO BBWN
BWNN
  BTFSC PORTB, S2
  GOTO BWBN
  GOTO BWWN
BBBN
  CLRF CNT
  BTFSC PORTB, S3
  CALL WARNING     ;BBBB
  CLRF CNT
  BTFSS PORTB, S3
  CALL FORWARD  ;BBBW
  RETURN
BBWN
  CLRF CNT
  BTFSC PORTB, S3
  CALL FORWARD    ;BBWB
  CLRF CNT
  BTFSS PORTB, S3
  CALL FORWARD    ;BBWW
  RETURN
BWBN
  CLRF CNT
  BTFSC PORTB, S3
  CALL FORWARD    ;BWBB
  CLRF CNT
  BTFSS PORTB, S3
  CALL WARNING      ;BWBW
  RETURN 
BWWN
  CLRF CNT
  BTFSC PORTB, S3
  CALL WARNING      ;BWWB
  CLRF CNT
  BTFSS PORTB, S3
  CALL LEFT_LOW    ;BWWW
  RETURN
;
WNNN
  BTFSC PORTB, S1
  GOTO WBNN
  GOTO WWNN
WBNN
  BTFSC PORTB, S2
  GOTO WBBN
  GOTO WBWN
WWNN
  BTFSC PORTB, S2
  GOTO WWBN
  GOTO WWWN
WBBN
  CLRF CNT
  BTFSC PORTB, S3
  CALL FORWARD    ;WBBB
  CLRF CNT
  BTFSS PORTB, S3
  CALL FORWARD  ;WBBW
  RETURN
WBWN
  CLRF CNT
  BTFSC PORTB, S3
  CALL FORWARD    ;WBWB
  CLRF CNT
  BTFSS PORTB, S3
  CALL FORWARD    ;WBWW
  RETURN
WWBN
  CLRF CNT
  BTFSC PORTB, S3
  CALL FORWARD    ;WWBB
  CLRF CNT
  BTFSS PORTB, S3
  CALL FORWARD       ;WWBW
  RETURN 
WWWN
  CLRF CNT
  BTFSC PORTB, S3
  CALL RIGHT_LOW      ;WWWB
  CLRF CNT
  BTFSS PORTB, S3
  CALL WARNING    ;WWWW
  RETURN
;
LEFT_HIGH ;1
  BSF PORTA,M0
  BSF PORTA,M1
  CALL DELAY
  BCF PORTA,M0
  CALL DELAY
  DECFSZ CNT,1
  GOTO LEFT_HIGH
  BCF PORTA,LED0
  BSF PORTA,LED1
  RETURN
LEFT_LOW ;2
  BSF PORTA,M0
  BSF PORTA,M1
  CALL DELAY
  BCF PORTA,M0
  CALL DELAY
  CALL DELAY
  DECFSZ CNT,1
  GOTO LEFT_LOW
  BCF PORTA,LED0
  BSF PORTA,LED1
  RETURN
RIGHT_HIGH ;3
  BSF PORTA,M0
  BSF PORTA,M1
  CALL DELAY
  BCF PORTA,M1
  CALL DELAY
  DECFSZ CNT,1
  GOTO RIGHT_HIGH
  BSF PORTA,LED0
  BCF PORTA,LED1
  RETURN
RIGHT_LOW ;4
  BSF PORTA,M0
  BSF PORTA,M1
  CALL DELAY
  BCF PORTA,M1
  CALL DELAY
  CALL DELAY
  DECFSZ CNT,1
  GOTO RIGHT_LOW
  BSF PORTA,LED0
  BCF PORTA,LED1
  RETURN
FORWARD ;5
  BSF PORTA, M0
  BSF PORTA, M1
  BSF PORTA,LED0
  BSF PORTA,LED1
  RETURN
WARNING
  BCF PORTA, M0
  BCF PORTA, M1
  CALL DELAY
  GOTO WARNING2
WARNING2
  BTFSS PORTA, LED0
  CALL T_LEFT
  BTFSS PORTA, LED1
  CALL T_RIGHT
  CALL DELAY
  RETURN
;
T_LEFT
  BCF PORTA,M0
  BSF PORTA,M1
  CALL DELAY
  CALL DELAY
  CALL DELAY
  CALL DELAY
  RETURN
T_RIGHT
  BSF PORTA,M0 
  BCF PORTA,M1
  CALL DELAY
  CALL DELAY
  CALL DELAY
  CALL DELAY
  RETURN
 
;	
DELAY
	MOVLW	DELAYT ;DELAYT -> working registor
	MOVWF	TIMEF0 ;move the value of working registor to TIMEF0
LOOP0
	CLRF	TIMEF1 ;flag down!
;LOOP1
;	CLRF	TIMEF2 ;flag down!
LOOP2
  MOVF	PORTB,0 ;move the value of PORTB to working registor (0 -> working registor(W), 1 -> the first HIKISUU)
	ANDWF	REG_B,1 ;the value of PORTB(W) take AND with REG_B and through value to REG_B
	;DECFSZ	TIMEF2,1 ;if(TIMEF2-- != 0){
	;GOTO	LOOP2 ; Loop more!
	;DECFSZ	TIMEF1,1 ;if(TIMEF1-- != 0){
	;GOTO	LOOP2 ; Loop more!
	DECFSZ	TIMEF0,1 ;if(TIMEF0-- != 0){
	GOTO	LOOP2 ; Loop more!
	RETURN ; Bye!
  ;
INTR
	RETURN

	END