Line follower program

[raitl]

Having problems with creating a LF program for my bot. I got an example from the net (Linbot) and tried to modify it to work for me. But I'm using 3 sensors instead of 4 so I'm guessing there's something about SENSOR_REG that I have missed or overlooked. Probably wrong bits or something... Any ideas?

CLRF SENSOR_REG       
MOVF L_AD_REG,W
SUBWF VR_AD_REG,W
BTFSC STATUS,C
BSF SENSOR_REG,0       

MOVF C_AD_REG,W
SUBWF VR_AD_REG,W
BTFSC STATUS,C
BSF SENSOR_REG,1

MOVF R_AD_REG,W 
SUBWF VR_AD_REG,W
BTFSC STATUS,C
BSF SENSOR_REG,2



MOVLW B'00000111'  
ANDWF SENSOR_REG,W  
ADDWF PCL   
GOTO NO_LINE   
GOTO LEFT_LINE  
GOTO CENTER_LINE  
GOTO LEFT_CENTER_LINE 
GOTO RIGHT_LINE  
GOTO NUL_LINE   
GOTO RIGHT_CENTER_LINE 
GOTO CENTER_LINE

 

[danielsmusic]

does the program compile?

 

[raitl]

compiles fine and even works when covering left sensor.

And would like to post another question without making a new topic... how do I change first 4 or last 4 bits of a port? Controlling two stepper motors with PORTB and would like to give the steppers different speeds via changing the pause between steps. That means I need to change one motor status without touching the other... can't figure this out...

 

[Exo]

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