MotorDecoderInterface/ButtonTest.asm at main · izou3/MotorDecoderInterface · GitHub

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; Starting code with basic constants and simple subroutine
; random comment

ORG 0
Start:
	IN BTN
	JPOS Testpos
	JZERO Testzero

Testpos:
	LOADI 1
	OUT Hex0
	JUMP Start

Testzero:
	LOADI 5
	OUT Hex0
	JUMP Start


ReadVelocity:
	CALL	Delay
	IN		Quad
	SUB		OldPos
	SHIFT	5
	OUT		Hex0
	STORE	CurrVel
	IN 		Quad
	STORE	OldPos
	RETURN

Delay:
	OUT	Timer ; writing something to timer resets it to 0

WaitingLoop:
	IN	Timer		; time counts up to 10 in 1 sec or at 10 Hz
	ADDI	-1 		; waiting 1/32 of a second
	JNEG	WaitingLoop
	RETURN


; IO address constants
Switches:  EQU &H000
Hex0:      EQU &H004
Hex1:	   EQU &H005
PWM:       EQU &H021
Direct:    EQU &H022
BTN:    EQU &H023
Quad:      EQU &H0F1
Timer:	   EQU &H002


; constants
Zero:      DW 0
NegOne:    DW -1

VelControlOn:    DW 1
PosControlOn:	 DW 0
VelControl:      DW &B01111
PosControlSpeed: DW &B11001
PosControl:      DW 540
Countprev:	 	 DW 0
OldPos: 		 DW 0
DesiredVel: 	 DW 270 ; 360 = 1 rev in 1.5 seconds
CurrVel: 		 DW 0
PWMSpeed: 	     DW 20
DesiredPos:      DW 5400
Velocity: 		 DW 0