CODE FOR MICROCONTROLLER

ORG 00H
LJMP MAIN


ORG 0003H
LJMP OBSTAC


MAIN:MOV IE,#81H
MOV R1,#5
MOV R6,#2
;MOV P2,#0FFH
MOV A,#0FFH
MOV P1,A


FRD: CLR P1.3
CLR P1.1
SETB P1.2
SETB P1.4
SJMP FRD


OBSTAC: MOV A,#0FFH
MOV P1,A
CLR P1.2
CLR P1.4
ACALL BACK
MOV A,#0FFH
MOV P1,A
CLR P1.3
ACALL LEFT
MOV A,#0FFH
MOV P1,A
RETI


BACK: MOV R2,#20

GO: MOV R3,#200

DO: DJNZ R3,DO
DJNZ R2,GO
DJNZ R1,BACK
RET



LEFT: MOV R2,#10

SO: MOV R3,#200

WO: DJNZ R3,WO
DJNZ R2,SO
DJNZ R6,LEFT
RET
END