StellarisASM

Description

This project was developed as part of the architecture module in our Computer Science and Application engineering program at ESIEE. Stellaris_ASM is an assembly (.s) program that enables control of a robot through two selectable movement modes using switches:

Classic
Labyrinth Solver

The following tools were used for the development of this program:

Stellaris Cortex M3 Robot
ARM Cortex M3 Assembly
Keil uVision4

Classic Mode

Pressing both bumpers: Turn on both LEDs and perform a U-turn.
Pressing the right bumper: Turn on the left LED and turn left.
Pressing the left bumper: Turn on the right LED and turn right.

Labyrinth Solver Mode

Labyrinth escape method based on the Pledge algorithm:

If the counter is 0, move straight ahead until reaching the wall in front.
From this wall, turn in the preferred direction (always the same, let's say left).
Then, follow the wall by adding 1 to the counter when turning right and subtracting 1 when turning left.
If the counter is 0, detach from the wall and move straight ahead.

Videos

https://www.youtube.com/embed/83kjO3r_M6c

https://www.youtube.com/embed/YOWi1U9MCvc

Register Usage

R0 => RK_MOTORS
R1 => RK_MOTORS
R2 => LED STATE
- Possible values:
  - 0x00 => LEDs OFF
  - 0x10 => LEFT LED
  - 0x20 => RIGHT LED
  - 0x30 => BOTH LEDs
R3 => SWITCH STATES
- Possible values:
  - 0x00 => SWITCHES PRESSED
  - 0x40 => SWITCH 2
  - 0x80 => SWITCH 1
  - 0xC0 => SWITCHES NOT PRESSED
R4 => BUMPER STATES
- Possible values:
  - 0x00 => BUMPERS PRESSED
  - 0x01 => LEFT BUMPER
  - 0x02 => RIGHT BUMPER
  - 0x03 => BUMPERS NOT PRESSED
R5 => @ LED MEMORY
R6 => @ RK_MOTORS MEMORY
R7 => @ SWITCH MEMORY
R8 => @ BUMPER MEMORY
R9 => LOOP COUNT FOR WAIT FUNCTION
R10 => VALUE CORRESPONDING TO THE SELECTED GAME MODE
R11 => NUMBER OF LOOPS FOR 90° ROTATION
R12 => DISTANCE TRAVELED FORWARD BEFORE IMPACT (DISTANCE TO TRAVEL IN REVERSE)

arthurpellegrini / StellarisASM