;Initilization
$ NOMOD51
$ INCLUDE (REG515.inc)

PUBLIC	WAIT

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

MAIN	SEGMENT CODE
RSEG 	MAIN
USING 	0




WAIT:
    
    LCALL	DISPLAY_STATUS
    MOV		A,KEYPAD_FLAG
    CJNE	A,#0FFH,KEY0
    LJMP	WAIT
KEY0:
	CJNE	A,#0,KEY1
	LJMP	WAIT
KEY1:
    CJNE	A,#1,KEY2
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	CLR		P4.0
	SETB	P4.0
	MOV		A,#0
	MOV		TURN_1,A
	MOV		A,#2
	MOV		TURN_180,A
	LCALL	TURN_LEFT
	LJMP	WAIT
KEY2:
	CJNE	A,#2,KEY3
	LJMP	PROG_FORWARD
KEY3:
	CJNE	A,#3,KEY4
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	CLR		P4.0
	SETB	P4.0
	MOV		A,#0
	MOV		TURN_1,A
	MOV		A,#2
	MOV		TURN_180,A
	LCALL	TURN_RIGHT
	LJMP	WAIT
KEY4:
	CJNE	A,#4,KEY5
	LJMP	PROG_LEFT
	LJMP	WAIT
KEY5:
	CJNE	A,#5,KEY6
	LJMP	WAIT
KEY6:
	CJNE	A,#6,KEY7
	LJMP	PROG_RIGHT
	LJMP	WAIT
KEY7:
	CJNE 	A,#7,KEY8
	LJMP	TEST1PROG
	
KEY8:
	CJNE	A,#8,KEY9
	LJMP	PROG_BACKWARD
	LJMP	WAIT
KEY9:
	CJNE	A,#9,KEYA
	LJMP	WAIT
KEYA:
	CJNE	A,#0AH,KEYB
	LJMP	WAIT
KEYB:
	CJNE	A,#0BH,KEYC
	LJMP	TEST2PROG
KEYC:
	CJNE		A,#0CH,KEYD
	LJMP	WAIT
KEYD:	
	CJNE	A,#0DH,KEYE
	LJMP	WAIT
KEYE:
	CJNE	A,#0EH,KEYF
	LJMP	WAIT
KEYF:	
	CJNE	A,#0FH,NOKEY
	LJMP	TEST1PROG
NOKEY:
	LJMP	WAIT

PROG_FORWARD:
	LCALL	DISPLAY_FORWARD
	LJMP	WAIT
PROG_BACKWARD:
	LCALL	DISPLAY_BACKWARD
	LJMP	WAIT
PROG_RIGHT:
	LCALL	DISPLAY_RIGHT
	LJMP	WAIT
PROG_LEFT:
	LCALL	DISPLAY_LEFT
	LJMP	WAIT
TEST1PROG:
	MOV		A,KEYPAD_FLAG
	CJNE	A,#07,EXITT1
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	
	MOV		A,#0
	MOV		GO_MOVE_HIGH,A
	MOV		A,#50
	MOV		GO_MOVE_LOW,A
	LCALL	FORWARD
	
	MOV		A,#0
   	MOV		TURN_180,A
   	MOV		A,#90
   	MOV		TURN_1,A
   	LCALL	TURN_RIGHT
   	
   	MOV		GO_MOVE_HIGH,A
	MOV		A,#50
	MOV		GO_MOVE_LOW,A
	LCALL	FORWARD
	
	MOV		A,#0
   	MOV		TURN_180,A
   	MOV		A,#90
   	MOV		TURN_1,A
   	LCALL	TURN_RIGHT
   	
   	MOV		GO_MOVE_HIGH,A
	MOV		A,#50
	MOV		GO_MOVE_LOW,A
	LCALL	FORWARD
	
	MOV		A,#0
   	MOV		TURN_180,A
   	MOV		A,#90
   	MOV		TURN_1,A
   	LCALL	TURN_RIGHT
   	
   	MOV		GO_MOVE_HIGH,A
	MOV		A,#50
	MOV		GO_MOVE_LOW,A
	LCALL	FORWARD
	
	MOV		A,#0
   	MOV		TURN_180,A
   	MOV		A,#90
   	MOV		TURN_1,A
   	LCALL	TURN_RIGHT
EXITT1:
	LJMP	WAIT
TEST2PROG:
	MOV		A,KEYPAD_FLAG
	CJNE	A,#0BH,EXITT1
	MOV		A,#0FFH
	MOV		KEYPAD_FLAG,A
	MOV		A,#0
   	MOV		TURN_180,A
   	MOV		A,#90
   	MOV		TURN_1,A
   	CLR		P4.0
   	LCALL	DLAYZ
   	SETB	P4.0
   	LCALL	TURN_LEFT
EXITT2:
   	LJMP	WAIT
   	
END