;Initilization
$ NOMOD51
$ INCLUDE (REG515.inc)

PUBLIC	DISPLAY_FORWARD

EXTRN DATA(KEYCOUNT, TURN_1, TURN_180, KEYPAD_FLAG, DISPFLAG, CONTSIG1, CONTSIG2, COUNT, ADDSAVE1, ADDSAVE2, GO_MOVE_HIGH, GO_MOVE_LOW)
EXTRN CODE(DLAYA, TURN_LEFT, TURN_RIGHT, FORWARD, BACKWARD,DLAYZ,ADCIN, LCDOUT, HEXTOA, RPMINCREASE1, RPMINCREASE2, RPMDECREASE1, RPMDECREASE2)
;EXTRN BIT()

DISPFORWARD	SEGMENT CODE
RSEG 	DISPFORWARD
USING 	0


DISPLAY_FORWARD:
	MOV		A,#0
	MOV		KEYCOUNT,A		;CLEAR KEY COUNT
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A   ;CLEAR KEYPAD FLAG
    MOV		A,#1AH			;CLEAR LCD
    LCALL	LCDOUT		
    MOV		DPTR, #LCDDATA
    MOV		R0,#0
DISPLOOP:                   ;OUT PUT TEXT TO SCREEN
							;"MOVE FORWARD (CM)?"
	MOV		A,R0
	MOVC	A,@A+DPTR
	CALL	LCDOUT
	INC		R0
	CJNE    R0,#19,DISPLOOP
	MOV		A,#0DH  		;NEXT LINE CODE
    LCALL	LCDOUT
    LCALL	DLAYZ
    MOV		A,#0AH
    LCALL	LCDOUT
INPUTWAIT:                  ;WAIT FOR PRESSED KEYS
	MOV		A,KEYPAD_FLAG
	CJNE	A,#0FFH,KEY0    ;FIND PRESSED KEY IF KEYPAD_FLAG IS NOT #0FFH
    LJMP	INPUTWAIT
KEY0:
	CJNE	A,#0,KEY1
	MOV		A,KEYCOUNT		;INCREMENT KEY COUNT
	ADD		A,#1
	MOV		KEYCOUNT,A
	MOV		A,#0FFH         ;CLEAR KEYPAD FLAG
	MOV		KEYPAD_FLAG,A
	MOV		A,#0
	MOV		B,#0
	PUSH	ACC
	LCALL	HEXTOA
	LCALL	LCDOUT          ;OUTPUT CURRENT CHARACTER
	LJMP	INPUTWAIT
KEY1:
	CJNE	A,#1,KEY2
	MOV		A,KEYCOUNT	;INCREMENT KEY COUNT
	ADD		A,#1
	MOV		KEYCOUNT,A
	MOV		A,#0FFH         ;CLEAR KEYPAD FLAG
	MOV		KEYPAD_FLAG,A
	MOV		A,#1
	MOV		B,#1
	PUSH	ACC
	LCALL	HEXTOA
	LCALL	LCDOUT          ;OUTPUT CURRENT CHARACTER
	LJMP	INPUTWAIT
KEY2:
	CJNE	A,#2,KEY3
	MOV		A,KEYCOUNT
	ADD		A,#1
	MOV		KEYCOUNT,A
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	MOV		A,#2
	MOV		B,#2
	PUSH	ACC
	LCALL	HEXTOA
	LCALL	LCDOUT
	LJMP	INPUTWAIT
KEY3:
	CJNE	A,#3,KEY4
	MOV		A,KEYCOUNT
	ADD		A,#1
	MOV		KEYCOUNT,A
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	MOV		A,#3
	MOV		B,#3
	PUSH	ACC
	LCALL	HEXTOA
	LCALL	LCDOUT
	LJMP	INPUTWAIT
	
KEY4:
	CJNE	A,#4,KEY5
	MOV		A,KEYCOUNT
	ADD		A,#1
	MOV		KEYCOUNT,A
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	MOV		A,#4
	MOV		B,#4
	PUSH	ACC
	LCALL	HEXTOA
	LCALL	LCDOUT
	LJMP	INPUTWAIT
KEY5:
	CJNE	A,#5,KEY6
	MOV		A,KEYCOUNT
	ADD		A,#1
	MOV		KEYCOUNT,A
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	MOV		A,#5
	MOV		B,#5
	PUSH	ACC
	LCALL	HEXTOA
	LCALL	LCDOUT
    LJMP	INPUTWAIT
KEY6:
	CJNE	A,#6,KEY7
	MOV		A,KEYCOUNT
	ADD		A,#1
	MOV		KEYCOUNT,A
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	MOV		A,#6
	MOV		B,#6
	PUSH	ACC
	LCALL	HEXTOA
	LCALL	LCDOUT
	LJMP	INPUTWAIT
KEY7:
	CJNE 	A,#7,KEY8
	MOV		A,KEYCOUNT
	ADD		A,#1
	MOV		KEYCOUNT,A
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	MOV		A,#7
	MOV		B,#7
	PUSH	ACC
	LCALL	HEXTOA
	LCALL	LCDOUT
	LJMP	INPUTWAIT
KEY8:
	CJNE	A,#8,KEY9
	MOV		A,KEYCOUNT
	ADD		A,#1
	MOV		KEYCOUNT,A
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	MOV		A,#8
	MOV		B,#8
	PUSH	ACC
	LCALL	HEXTOA
	LCALL	LCDOUT
	LJMP	INPUTWAIT
KEY9:
	CJNE	A,#9,KEYA
	MOV		A,KEYCOUNT
	ADD		A,#1
	MOV		KEYCOUNT,A
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	MOV		A,#9
	MOV		B,#9
	PUSH	ACC
	LCALL	HEXTOA
	LCALL	LCDOUT
	LJMP	INPUTWAIT
KEYA:
	CJNE	A,#0AH,KEYB
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
    LJMP	INPUTWAIT
	
KEYB:
	CJNE	A,#0BH,KEYC
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	LJMP	INPUTWAIT
	
KEYC:
	CJNE	A,#0CH,KEYD
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	LJMP	INPUTWAIT
	
KEYD:	
	CJNE	A,#0DH,KEYE
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	LJMP	INPUTWAIT
		
KEYE:
	CJNE	A,#0EH,KEYF
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
  ;**************************
  ;THE FUNCTION CONVERT CONVERTS THE PRESSED KEYS INTO AN ACTUAL NUMBER.
  ;EACH TIME A KEY IS PRESSED, IT IS PUSHED ONTO THE STACK.  CONVERT, POPS THE STACK
  ;ONE TIME FOR EACH KEY PRESSED.  SO, IF THE KEYPAD IS PRESSED 5 TIMES, 5 VALUSE ARE PUSHED
  ;ONTO THE STACK.  THE FUNCTION CONVERT, POPS THE STACK 5 TIMES, AND CONVERTS THE 5 
  ;SEPERATE NUMBERS INTO ONE NUMBER.  THE FINAL VALUES ARE STORED INTO GO_MOVE_LOW AND GO_MOVE_HIGH
  ;**************************
  CONVERT1:
	MOV		A,#0
	MOV		GO_MOVE_LOW,A
	MOV		GO_MOVE_HIGH,A
	MOV		A,KEYCOUNT		;NO KEYS HAVE BEEN PRESSED
	JZ		CONTINUE
	POP		ACC             ;GET VALUE FROM STACK
	MOV		GO_MOVE_LOW,A   ;PUT VALUE INTO GO_MOVE_LOW
	MOV		A,KEYCOUNT      ;CHECK NUMBER OF PRESSED KEYS
	CJNE	A,#1,CONVERT10
	LJMP	CONTINUE
  CONVERT10:	
	POP		ACC
	MOV		B,#10
	MUL		AB
	ADDC	A,GO_MOVE_LOW
	MOV		GO_MOVE_LOW,A
	MOV		A,KEYCOUNT
	CJNE	A,#2,CONVERT100
	LJMP	CONTINUE
  CONVERT100:	
	POP		ACC
	MOV		GO_MOVE_HIGH,A
	MOV		A,KEYCOUNT
	CJNE	A,#3,CONVERT1000
	LJMP	CONTINUE
  CONVERT1000:
	POP		ACC
	MOV		B,#10
	MUL		AB
	ADDC	A,GO_MOVE_HIGH
	MOV		GO_MOVE_HIGH,A
	MOV		A,KEYCOUNT
	CJNE	A,#48,CONVERT10000
	LJMP	CONTINUE
  CONVERT10000:	
	POP		ACC
	MOV		B,#100
	MUL		AB
	ADDC	A,GO_MOVE_HIGH
	MOV		GO_MOVE_HIGH,A
CONTINUE:
	LCALL	FORWARD
	RET
KEYF:	
	CJNE	A,#0FH,NOKEY	;KEY F IS THE "EXIT MENU" KEY  THE STACK MUST BE POPED "KEYCOUNT" TIMES BEFORE EXITING
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	MOV		A,KEYCOUNT
	CJNE	A,#0,EXIT1
    RET
  EXIT1:
	CJNE	A,#1,EXIT2
  	POP		ACC
    RET
  EXIT2:
	CJNE	A,#2,EXIT3
    POP		ACC
	POP		ACC
	RET
  EXIT3:
	CJNE	A,#3,EXIT4
	POP		ACC
	POP		ACC
	POP		ACC
	RET
  EXIT4:
	CJNE	A,#48,EXIT5
	POP		ACC
	POP		ACC
	POP		ACC
	POP		ACC
	RET
  EXIT5:
	POP		ACC
	POP		ACC
	POP		ACC
	POP		ACC
	POP		ACC
	RET
NOKEY:
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	LJMP	INPUTWAIT



LCDDATA:
	DB		"Move Forward (cm.)?"

END