Line Follower
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CODE FOR LINE FOLLOWER list p=16f628A #include __CONFIG _MCLRE_ON & _CP_OFF & _WDT_OFF & _INTRC_OSC_NOCLKOUT ERRORLEVEL -302 cblock 0x20 temp temp_s endc ;****************************************************************** org 0x00 goto main ;***********************************INTERRUPT LOOP***************** org 0X04 inter: movwf temp swapf STATUS,w clrf STATUS movwf temp_s btfsc PORTB,0x00 goto loop1 loop2: movlw b'00000101' movwf PORTA btfsc PORTB,0x05 goto loop2 goto loop_x loop1: movlw movwf btfsc goto
b'10001000' PORTA PORTB,0x00 loop1
bcf bcf swapf movwf swapf retfie
INTCON,0x01 INTCON,0x00 temp_s,w STATUS temp,w
loop_x
main: bsf
INTCON,0x07
bsf bsf
INTCON,0x04 INTCON,0x03
;Globel interrupt enable(we are using interr.) ;RB4-RB7 interrupt on change is
enabled/ in other words these pins will also work as ;interrupts and interrupt will occur every time any of these pin changes state ; i.e.:HIGH to LOW or LOW to HIGH, we can not set it to be on eather one state change bcf bcf
INTCON, 0x01 INTCON, 0x00
;Clear RB4-RB7 interrupt flag so, that another interr. can occur.
;**********************************SET UP THE PORTS *****************
bsf movlw movwf movlw movwf bcf movlw
STATUS,RP0 b'00100001' TRISB b'00000000' TRISA STATUS,RP0 0x07
movwf
CMCON
;switch to BANK 1 ;set RB6 & RB5 as input ;setPORT A all output ;back to BANK 0 ;turn comparators off, so HIGH will be simple HIGH rather than +5V (compared to supply) so with the LOW
Loop: movlw b'00001001' movwf PORTA goto Loop END
;set pin 0 of port a HIGH
CIRCUIT DIAGRAM
b'10001000' PORTA PORTB,0x00 loop1
bcf bcf swapf movwf swapf retfie
INTCON,0x01 INTCON,0x00 temp_s,w STATUS temp,w
loop_x
main: bsf
INTCON,0x07
bsf bsf
INTCON,0x04 INTCON,0x03
;Globel interrupt enable(we are using interr.) ;RB4-RB7 interrupt on change is
enabled/ in other words these pins will also work as ;interrupts and interrupt will occur every time any of these pin changes state ; i.e.:HIGH to LOW or LOW to HIGH, we can not set it to be on eather one state change bcf bcf
INTCON, 0x01 INTCON, 0x00
;Clear RB4-RB7 interrupt flag so, that another interr. can occur.
;**********************************SET UP THE PORTS *****************
bsf movlw movwf movlw movwf bcf movlw
STATUS,RP0 b'00100001' TRISB b'00000000' TRISA STATUS,RP0 0x07
movwf
CMCON
;switch to BANK 1 ;set RB6 & RB5 as input ;setPORT A all output ;back to BANK 0 ;turn comparators off, so HIGH will be simple HIGH rather than +5V (compared to supply) so with the LOW
Loop: movlw b'00001001' movwf PORTA goto Loop END
;set pin 0 of port a HIGH
CIRCUIT DIAGRAM
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