Lab 3 assembly code

;---------------------------------------------------
;FILE: EDbotTest.asm
;DESC: Design to test ED bot basic functionality
;DEVICE: PICmicro (PIC18F1220)
;---------------------------------------------------

    list    p=18F1220
    radix   hex
    config  WDT=OFF, LVP=OFF, OSC=INTIO2

    #include	p18F1220.inc		    ;This header file includes address and bit definitions for all SFR's

    #define	dCount	    0x80
    #define	dCountInner 0x81

	org	0x000

	;Initialize all I/O ports
	CLRF	PORTA
	CLRF	PORTB
	MOVLW	0x7F
	MOVWF	ADCON1
	MOVLW	0x0D
	MOVWF	TRISA
	MOVLW	0xC7
	MOVWF	TRISB
	MOVLW	0x00

	;Toggle Portb,5 direction, and delay.
	;start by going forward for first delay cycle
Main:
	BSF	PORTB,4		;Enable Right motor
	BSF	PORTA,6		;Forward Right
	BSF	PORTB,3		;Enable Left motor
	BSF	PORTA,7		;Forward Left
	MOVLW	.2
	CALL	Delay
	BSF	PORTA,6		;Forward Right
	CALL Loop1

Loop1:
	BCF PORTA,7 ;Backward Left
        BSF PORTA,6 ;Forward Right
        MOVLW .2
        CALL Delay
	BSF PORTA,7 ;Forward Left
        BSF PORTA,6 ;Forward Right
        MOVLW .2
        CALL Delay
        CALL Loop2

Loop2:
	BCF PORTA,7 ;Backward Left
        BSF PORTA,6 ;Forward Right
        MOVLW .1
        CALL Delay
	BSF PORTA,7 ;Forward Left
        BSF PORTA,6 ;Forward Right
        MOVLW .2
        CALL Delay
        CALL Loop1

;Delay function uses the Wreg value as the number of 1/10 of second delays
Delay:
	MOVWF	dCount
DelayLoop:
	CALL	DelayOnce
	DECF	dCount
	BNZ	DelayLoop
	RETURN
DelayOnce:
	CLRF	dCountInner	;Internal Delay loop
DelayOnceLoop:
	NOP
	INCF	dCountInner
	BNZ	DelayOnceLoop
	RETURN

	end