Line Follwer Program::Assembly Language

;Mohit "hey this is LFR's assembly language code, from this you can just take the idea of its program... soon ill be uploading the circuit dia too. ;So you would be able to directly copy it and run your Lfr and also the C version of it...
; 25,June,09
;Status::Working
;s/w version no.:1.00.01
;Microcontroller Used::AT89s52
;Crystal frequency:11.0592Mhz







;hardware declaration

sensleft equ p2.0
sensright equ p2.1
input1 equ p3.0
input2 equ p3.2
input4 equ p3.4
input3 equ p3.5



;ram declaration
stackval equ 70h

;Start of main program

Org 0000H

PowerON:
Mov SP,#stackval
Mov P0,#0ffH
Mov P1,#0ffH
Mov P2,#0ffH
Mov P3,#0ffH
Mov IE,#00H
Mov IP,#00H

mainloop:
jb sensleft,rightorforward
jb sensright,leftorforward
acall back
sjmp mainloop

rightorforward:
jb sensright,forward
acall right
ret

leftorforward:
jb sensleft,forward
acall left
ret

right:
clr input1
setb input4
setb input3
setb input2
ret

left:
clr input3
setb input4
setb input1
setb input2
ret

forward:
clr input3
clr input1
setb input2
setb input4
ret

back:
clr input2
clr input4
setb input1
setb input3
ret

end