Attached is my pogram below. I need someone to complete my 2 missing routines for me.<br>
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org 0000h<br>
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jmp MAIN<br>
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org 0100h<br>
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MAIN: CALL ROLLSTOP<br>
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mov p3,#11111111b <br>
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START: jb p3.0,FORWARD ;PIN 3.0 IS ON - forward<br>
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jnb p3.0,REVERSE ;PIN 3.0 IS OFF - reverse<br>
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jmp start <br>
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FORWARD: MOV A,#98 ;WAIT 1sec TO START RUNNING<br>
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CALL WAITS<br>
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CALL INITFORWARD ;SET MOTOR IN FORWARD MOTION<br>
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CALL WAITS<br>
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CALL FORWARDSHAFT<br>
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CALL ROLLSTOP<br>
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jmp start ; ---clockwise<br>
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;SET MOTOR IN REVERSE MOTION<br>
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REVERSE: MOV A,#98 ;WAIT 1sec TO START RUNNING<br>
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CALL WAITS<br>
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CALL INITREV<br>
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CALL WAITS<br>
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CALL REVERSESHAFT<br>
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CALL ROLLSTOP <br>
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jmp start ; ---counterclockwise <br>
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WAITS: MOV R2, A ;FULL WAITS (SHORT) IS APPR.1.62 sec<br>
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WAIT2: DJNZ R0,WAIT2<br>
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MOV R0, #00000011B <br>
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DJNZ R1, WAIT2 <br>
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RET <br>
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PAUSE: MOV A, #49 ;PAUSE 1/2sec AFTER MOVING <br>
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CALL WAITS<br>
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RET <br>
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;SET FORWARD MOTION <br>
INITFORWARD: ;The unipolar stepper motor begins in motion ( Phase 1) <br>
MOV P1,#00000001B ;1<br>
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CALL PAUSE<br>
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MOV P1,#00000010B ;2<br>
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CALL PAUSE<br>
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MOV P1,#00000100B ;4<br>
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CALL PAUSE<br>
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MOV P1,#00001000B ;8<br>
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CALL PAUSE<br>
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RET <br>
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;SET REVERSE MOTION <br>
INITREV: ;The unip. step. motor begins its backw. motion ( Phase 2) <br>
MOV P1,#00001000B ;8<br>
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CALL PAUSE<br>
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MOV P1,#00000100B ;4<br>
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CALL PAUSE<br>
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MOV P1,#00000010B ;2 <br>
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CALL PAUSE<br>
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MOV P1,#00000001B ;1<br>
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CALL PAUSE<br>
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RET <br>
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FORWARDSHAFT: ;Turn shaft in certain positions during FORWARD movement<br>
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MOV P1,#00010001B ;Turn it 45 degrees.<br>
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CALL WAITS<br>
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MOV P1,#10000010B ;Turn it 90 degrees.<br>
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CALL WAITS<br>
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MOV P1,#00001001B ;Turn it 180 degrees.<br>
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CALL WAITS<br>
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MOV P1,#01000010B ;Turn it 270 degrees.<br>
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WAITS<br>
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RET<br>
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REVERSESHAFT: ;Turn shaft in certain positions during REVERSE movement<br>
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MOV P1,#01000010B ;Turn it -270 degrees<br>
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CALL WAITS<br>
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MOV P1,#00001001B ;Turn it -180 degrees<br>
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CALL WAITS<br>
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MOV P1,#10000010B ;Turn it -90 degrees<br>
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CALL WAITS <br>
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MOV P1,#00010001B ;Turn it -45 degrees<br>
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CALL WAITS<br>
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RET<br>
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FASTROUTINE: ;Maximum speed to the UNIPOLAR STEPPER<br>
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SLOWROUTINE: ;Minimum speed to the UNIPOLAR STEPPER<br>
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ROLLSTOP: MOV P1,#00000000B ;TURN OFF MOTOR <br>
RET <br>
END <br>
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What kind of processor is this? And why do you wait before and after you drive forward or backward? I suggest you design the loop a bit differently so that your robot can respond to user input immediately. Or is it ram-less?

It is ram-less. its an 8051uC. Please write me a new code if possible.<br>