Pemrograman Assembly - Program Pengatur Roda Robot berputar dengan kecepatan berbeda

; ==============================================
; Judul: Program Pengatur Roda Robot
; Port : P2.4 & P2.5 => roda kanan
; P2.6 & P2.7 => roda kiri
; Ket  : Roda berputar dengan kecepatan berbeda
; dapat berputar ke kanan atau ke kiri
; Tgl  : 7 Agustus 2010
; ----------------------------------------------
; By   : ARC. Robotika Club
; ==============================================

 $MOD51
org 00h
jmp start
org 100h

; definisi
; --------

arah_roda1 equ p2.7
pwm_roda1 equ p2.6
arah_roda2 equ p2.5
pwm_roda2 equ p2.4
data_on equ 30h
data_off equ 31h
data1 equ 32h
data2 equ 33h
data3 equ 34h
data4 equ 35h

; inisialisasi
; ------------
clr arah_roda1,#0
clr pwm_roda1,#0
clr arah_roda2,#0
clr pwm_roda2,#0
mov data1,#0
mov data2,#0
mov data3,#0
mov data4,#0
start:
; gerak maju
; ----------
mov p2,#0
call delay1
mov data_on,#0
setb pwm_roda1
setb pwm_roda2
call delay_on
clr pwm_roda1
clr pwm_roda2
inc data1
run:
mov p2,#0
  mov a,#01
  mov p0,a
call delay
rl a 
jmp run

DELAY: MOV R5, #100
DEL1: MOV R6, #100
DEL2: MOV R7, #10
DJNZ R7, $
DJNZ R6, DEL2
DJNZ R5, DEL1
RET

END