【正文】 ；（0b 0 1 0 1 1111=0x5f）機(jī)器人倒退 out portd,r17 ；機(jī)器人前進(jìn)運(yùn)動(dòng) rcall delay ；調(diào)用延時(shí)子程序 out portd,r16 ；停，為了轉(zhuǎn)換減速，保護(hù)電機(jī)驅(qū)動(dòng)電路 rcall delay ；調(diào)用延時(shí)子程序 ldi r17,$5f out portd,r17 ；機(jī)器人倒退 rcall delay ；調(diào)用延時(shí)子程序 out portd,r16 ；停，為了轉(zhuǎn)換減速，保護(hù)電機(jī)驅(qū)動(dòng)電路 rcall delay ；調(diào)用延時(shí)子程序 rjmp start1 ；循環(huán)附錄2懸崖機(jī)器人的總程序:.include “e\program\include\” ；器件配置文件；.include “e:program\include\” ；器件配置文件.equ toneconst = $60；. equ toneconst + 1 = $61 .equ sound_add = $62；.equ sound_add +1 = $63.equ rst_time = $6c；.equ rst_time +1 = $6d.equ work_status = $70.equ gzsl = $71.equ t0_times = $72.equ sw_in = $73.equ remote_in = $74.equ mic_in = $75.equ timers = $76.equ pa_value = $79.equ pc_value = $7b.equ temp = $80.equ temp1 = $81；*********************************************.eseg.org $001sound: ；/樂(lè)曲數(shù)據(jù)表.db 0x25,0x28,0x2A,0x4A,0x29,ox28,0x48,0x28.db 0x26,0x46,0x28,0x45,0x25,ox28,0x2A,0x4A.db 0x29,0x28,0x48,0x28,0x29,ox49,0X2A,0x49.db 0x40,0x2A,0x4A,0x2B,0x4c,ox40,0x3D,0x1D.db 0x2D,0x2D,0x4C,0x40,0x2A,ox4A,0x2C,0X48.db 0x28,0x2A,0x29,0x46,ox25,0x48,0x40,0X40.db 0x2a,0x2a,0x4a,0x2a,0x2a,ox4a,0x4a,0x2c,0x28,0x29.db 0x4a,0x4a,0x2b,0x2b,0x2b,ox2b,0x2b,0x2a,0x2a,0x2a.db 0x2a,0x29,0x29,0x28,0x49,ox4c,0x2a,0x2a,0x4a,0x2a.db 0x2a,0x4a,0x2a,0x2c,0x28,ox29,0x4a,0x4a,0x2b,0x2b.db 0x2b,0x2b,0x2b,0x2a,0x2a,ox2a,0x2c,0x2c,0x2b,0x29.db 0x48,0x28.db 0x4a,0x2a,0x29,0x28,0x29,0x28,0x27,0x46,0x46,0x46.db 0x46,0x4b,0x2b,0x2a,0x29,0x28,0x29,0x2b,0x4a,0x4a.db 0x4a,0x4b,0x2b,0x2a,0x49,0x29,0x2b,0x4a,0x2a,0x28.db 0x46,0x48,0x47,0x4a,0x29,0x28,0x27,0x28,0x46,0x46.db 0x46,0x46,0x4a,0x2a,0x29,0x28,0x29,0x28,0x27,0x46 .db 0x46,0x46,0x46,0x4b,0x2b,0x2a,0x29,0x28,0x29,0x2b.db 0x4a,0x4a,0x4a,0x4b,0x2b,0x2a,0x49,0x29,0x2b,0x4a.db 0x2a,0x28,0x46,0x48,0x47,0x4a,0x29,0x28,0x27,0x28.db 0x46,0x46,0x46,0x46 .db 0x43,0x43,0x45,0x49,0x49,0x49,0x48,0x48,0x45,0x44.db 0x44,0x44,0x43,0x43,0x43,0x43,0x44,0x45,0x46,0x46.db 0x46,0x45,0x45,0x45,0x43,0x43,0x45,0x49,0x49,0x49.db 0x48,0x48,0x45,0x44,0x44,0x44,0x43,0x43,0x45,0x45.db 0x46,0x47,0x48,0x48,0x48,0x48,0x48,0x48,0x49,0x49.db 0x45,0x47,0x46,0x45,0x43,0x43,0x45,0x48,0x48,0x48.db 0x46,0x46,0x48,0x49,0x49,0x48,0x47,0x47,0x47,0x45.db 0x45,0x45,0x43,0x43,0x45,0x49,0x49,0x49,0x48,0x48.db 0x45,0x44,0x44,0x44,0x43,0x43,0x45,0x45, 0x46,0x47.db 0x48,0x48,0x48,0x48,0x40,0x40.db 0x45,0x48,0x4a,0x4a,0x4a,0x4a,0x4a,0x4a,0x49,0x4a.db 0x49,0x48,0x48,0x48,0x48,0x48,0x45,0x48,0x4a,0x4a.db 0x48,0x4a,0x4c,0x4c,0x4b,0x48,0x49,0x49,0x49,0x49.db 0x49,0x4c,0x4b,0x4a,0x4a,0x4a,0x49,0x48,0x48,0x49.db 0x4a,0x4c,0x4b,0x4b,0x4b,0x4b,0x4b,0x46,0x46,0x45.db 0x45,u0x45,0x47,0x48,0x49,0x49,0x4a,0x49,0x48,0x48.db 0x48,0x48,0x48,0x48.db 0x00,0x00；**************************.cseg.org $ 000 rjmp main ；跳轉(zhuǎn)主程序.org OVFladdr rjmp timerl_ovf_isr ；定時(shí)器1溢出中斷處理程序.org OVFladdr rjmp timer0_ovf_isr ；定時(shí)器0溢出中斷處理程序t0_ovf_13: ldi R24,4000 ldi R25,1 lds R2,rst_time lds R3,rst_time+1 cp R24,R2 cpc R25,R3 brsh t0_ovf_15 ；rst_time400 ldi R24,255 ；rst_time400,熄滅PA口的指示燈out PORTA,R24 rcall watchdog_init ；調(diào)用看門狗初始化子程序 t0_ovf_14: rjmp t0_ovf_14 ；等待看門狗復(fù)位t0_ovf_15： lds R24,gzsl ；根據(jù)gzsl的內(nèi)容來(lái)判斷執(zhí)行什么程序 cpi R24,136 brne t0_ovf_17 ；gzsl！= 136跳轉(zhuǎn) lds R24,to_times ；gzsl=136時(shí)執(zhí)行的程序 cpi R24,10 ；判斷to_times的值是否為10 brne t0_ovf_17 lds R24,timera ；to_times = 10，則times的內(nèi)容加1 subi R24,255 ；加1 sts timers,R24 ；times = times + 1clr R2 sts timers,R24 clr R2 sts t0_times,R2 ；t0_times內(nèi)容清零，t0_times = 0 ldi R24,low(led_data﹡2) ；裝入LED廣告燈數(shù)據(jù)表首址到Z寄存器 ldi R25,high(led_data﹡2) lds R2,timers clr R3 add R2,R24 adc R3,R25 ；加上偏移量times mov R31,R3 lmp ；查表得到LED廣告燈數(shù)據(jù) sts pa_value,R0 ；存儲(chǔ)到PA口輸出緩沖區(qū) mov R24,R0 cpi R24,10 ；判斷LED廣告燈數(shù)據(jù)是否為10 brne t0_ovf_16 ；不等于10，未到數(shù)據(jù)表末尾 clr R2 ；等于10，已到數(shù)據(jù)表末尾，重頭開(kāi)始，循環(huán) sts timers,R2 t0_ovf_16： lds R2,pa_value out PORTA,R2 ；數(shù)據(jù)由PA口輸出顯示t0_ovf_17： lds R24,gzsl cpi R24,68 breq t0_ovf_18 ；gzsl = 68時(shí)執(zhí)行的程序 rjmp t0_ovf_25 ；gzsl！= 68跳轉(zhuǎn)t0_ovf_18： rcall sw_touch ；調(diào)用輕觸開(kāi)關(guān)檢測(cè)程序，并采取相應(yīng)的動(dòng)作 in R24,PINC andi R24,224 sts pc_value,R24 ；分離出探測(cè)信號(hào)存放到pc_value cpi R24,low(sound) brne t0_ovf_19 rcall stop ；pc_value = 224，使機(jī)器人停止待命 clr R2 sts to_times,R2 ；to_times = 0 ldi R24,34 ldi R25,high(sound) ；times = 34 lds R16,sound_add ；取EEPROM中音樂(lè)數(shù)據(jù)的首址 lds R17,sound_add+1 add R16,R24 adc R17,R25 rcall EEPROMread sts temp1,R16 ；將數(shù)據(jù)保存到temp1中t0_ovf_19： lds R24,pc_value ；根據(jù)pc_value的不同值，機(jī)器人采取不同的動(dòng)作 cpi R24,64 breq t0_ovf_20 cpi R24,128 breq t0_ovf_20